| author | Florian Pose <fp@igh-essen.com> |
| Mon, 26 Jan 2009 11:16:10 +0000 | |
| changeset 1326 | ef907b0b5125 |
| parent 1313 | ed15eef57d5c |
| child 1333 | 7b9898062c8f |
| permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* Using the EtherCAT technology and brand is permitted in compliance with |
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* the 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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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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ret = ec_datagram_prealloc(datagram, data_size); \ |
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if (unlikely(ret)) \ |
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return ret; \ |
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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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{
|
| 809 | 116 |
if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) |
117 |
kfree(datagram->data); |
|
118 |
} |
|
119 |
||
120 |
/*****************************************************************************/ |
|
121 |
||
122 |
/** Allocates internal payload memory. |
|
123 |
* |
|
124 |
* If the allocated memory is already larger than requested, nothing ist done. |
|
125 |
* |
|
126 |
* \attention If external payload memory has been provided, no range checking |
|
127 |
* is done! |
|
128 |
* |
|
|
1312
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Created backend versions of all API functions returing a pointer; using
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|
129 |
* \return 0 in case of success, otherwise \a -ENOMEM. |
| 809 | 130 |
*/ |
|
815
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diff
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|
131 |
int ec_datagram_prealloc( |
|
002fe9ec778f
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diff
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|
132 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
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diff
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|
133 |
size_t size /**< New payload size in bytes. */ |
| 809 | 134 |
) |
135 |
{
|
|
136 |
if (datagram->data_origin == EC_ORIG_EXTERNAL |
|
137 |
|| size <= datagram->mem_size) |
|
138 |
return 0; |
|
|
293
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
139 |
|
|
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
140 |
if (datagram->data) {
|
|
14aeb79aa992
Renamed command structure to datagram.
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|
141 |
kfree(datagram->data); |
|
14aeb79aa992
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|
142 |
datagram->data = NULL; |
|
14aeb79aa992
Renamed command structure to datagram.
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diff
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|
143 |
datagram->mem_size = 0; |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
144 |
} |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
145 |
|
|
998
05a24788f3b2
Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
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parents:
986
diff
changeset
|
146 |
if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
|
|
986
a486591ba86b
Replaced misleading %i by %u.
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parents:
816
diff
changeset
|
147 |
EC_ERR("Failed to allocate %u bytes of datagram memory!\n", size);
|
|
1312
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Created backend versions of all API functions returing a pointer; using
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diff
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|
148 |
return -ENOMEM; |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
149 |
} |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
150 |
|
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
151 |
datagram->mem_size = size; |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
152 |
return 0; |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
153 |
} |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
diff
changeset
|
154 |
|
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
diff
changeset
|
155 |
/*****************************************************************************/ |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
diff
changeset
|
156 |
|
|
1225
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
157 |
/** Fills the datagram payload memory with zeros. |
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
158 |
*/ |
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
159 |
void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */) |
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
160 |
{
|
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
161 |
memset(datagram->data, 0x00, datagram->data_size); |
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
162 |
} |
|
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
163 |
|
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
164 |
/*****************************************************************************/ |
|
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
165 |
|
| 809 | 166 |
/** Initializes an EtherCAT APRD datagram. |
167 |
* |
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
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diff
changeset
|
168 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
169 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
170 |
int ec_datagram_aprd( |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
171 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
172 |
uint16_t ring_position, /**< Auto-increment address. */ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
173 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
174 |
size_t data_size /**< Number of bytes to read. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
175 |
) |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
176 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
1312
diff
changeset
|
177 |
int ret; |
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
178 |
EC_FUNC_HEADER; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
179 |
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
|
180 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
181 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
182 |
EC_FUNC_FOOTER; |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
183 |
} |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
184 |
|
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
185 |
/*****************************************************************************/ |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
186 |
|
| 809 | 187 |
/** Initializes an EtherCAT APWR datagram. |
188 |
* |
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
189 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
190 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
191 |
int ec_datagram_apwr( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
192 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
193 |
uint16_t ring_position, /**< Auto-increment address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
194 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
195 |
size_t data_size /**< Number of bytes to write. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
196 |
) |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
197 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
198 |
int ret; |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
199 |
EC_FUNC_HEADER; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
200 |
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
|
201 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
202 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
203 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
204 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
205 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
206 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
207 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
208 |
/** Initializes an EtherCAT APRW datagram. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
209 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
210 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
211 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
212 |
int ec_datagram_aprw( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
213 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
214 |
uint16_t ring_position, /**< Auto-increment address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
215 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
216 |
size_t data_size /**< Number of bytes to write. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
217 |
) |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
218 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
219 |
int ret; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
220 |
EC_FUNC_HEADER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
221 |
datagram->type = EC_DATAGRAM_APRW; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
222 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
223 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
224 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
225 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
226 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
227 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
228 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
229 |
/** Initializes an EtherCAT ARMW datagram. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
230 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
231 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
232 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
233 |
int ec_datagram_armw( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
234 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
235 |
uint16_t ring_position, /**< Auto-increment address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
236 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
237 |
size_t data_size /**< Number of bytes to read. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
238 |
) |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
239 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
240 |
int ret; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
241 |
EC_FUNC_HEADER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
242 |
datagram->type = EC_DATAGRAM_ARMW; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
243 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
244 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
245 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
246 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
247 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
248 |
/*****************************************************************************/ |
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249 |
|
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250 |
/** Initializes an EtherCAT FPRD datagram. |
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251 |
* |
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252 |
* \return Return value of ec_datagram_prealloc(). |
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253 |
*/ |
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|
254 |
int ec_datagram_fprd( |
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255 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
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|
256 |
uint16_t configured_address, /**< Configured station address. */ |
|
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|
257 |
uint16_t mem_address, /**< Physical memory address. */ |
|
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|
258 |
size_t data_size /**< Number of bytes to read. */ |
|
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|
259 |
) |
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|
260 |
{
|
|
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|
261 |
int ret; |
|
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|
262 |
|
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|
263 |
if (unlikely(configured_address == 0x0000)) |
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|
264 |
EC_WARN("Using configured station address 0x0000!\n");
|
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|
265 |
|
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|
266 |
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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270 |
EC_FUNC_FOOTER; |
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|
271 |
} |
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|
272 |
|
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|
273 |
/*****************************************************************************/ |
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|
274 |
|
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275 |
/** Initializes an EtherCAT FPWR datagram. |
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276 |
* |
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277 |
* \return Return value of ec_datagram_prealloc(). |
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|
278 |
*/ |
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|
279 |
int ec_datagram_fpwr( |
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|
280 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
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|
281 |
uint16_t configured_address, /**< Configured station address. */ |
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|
282 |
uint16_t mem_address, /**< Physical memory address. */ |
|
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|
283 |
size_t data_size /**< Number of bytes to write. */ |
|
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|
284 |
) |
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|
285 |
{
|
|
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|
286 |
int ret; |
|
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|
287 |
|
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|
288 |
if (unlikely(configured_address == 0x0000)) |
|
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|
289 |
EC_WARN("Using configured station address 0x0000!\n");
|
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|
290 |
|
|
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|
291 |
EC_FUNC_HEADER; |
|
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|
292 |
datagram->type = EC_DATAGRAM_FPWR; |
|
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|
293 |
EC_WRITE_U16(datagram->address, configured_address); |
|
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|
294 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
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|
295 |
EC_FUNC_FOOTER; |
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|
296 |
} |
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|
297 |
|
|
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|
298 |
/*****************************************************************************/ |
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|
299 |
|
|
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|
300 |
/** Initializes an EtherCAT FPRW datagram. |
|
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|
301 |
* |
|
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|
302 |
* \return Return value of ec_datagram_prealloc(). |
|
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|
303 |
*/ |
|
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|
304 |
int ec_datagram_fprw( |
|
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|
305 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
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|
306 |
uint16_t configured_address, /**< Configured station address. */ |
|
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|
307 |
uint16_t mem_address, /**< Physical memory address. */ |
|
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|
308 |
size_t data_size /**< Number of bytes to write. */ |
|
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changeset
|
309 |
) |
|
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|
310 |
{
|
|
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|
311 |
int ret; |
|
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|
312 |
|
|
815
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|
313 |
if (unlikely(configured_address == 0x0000)) |
|
002fe9ec778f
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changeset
|
314 |
EC_WARN("Using configured station address 0x0000!\n");
|
|
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changeset
|
315 |
|
|
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changeset
|
316 |
EC_FUNC_HEADER; |
|
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diff
changeset
|
317 |
datagram->type = EC_DATAGRAM_FPRW; |
|
002fe9ec778f
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|
318 |
EC_WRITE_U16(datagram->address, configured_address); |
|
002fe9ec778f
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changeset
|
319 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
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diff
changeset
|
320 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
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diff
changeset
|
321 |
} |
|
002fe9ec778f
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changeset
|
322 |
|
|
002fe9ec778f
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diff
changeset
|
323 |
/*****************************************************************************/ |
|
002fe9ec778f
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diff
changeset
|
324 |
|
|
002fe9ec778f
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diff
changeset
|
325 |
/** Initializes an EtherCAT FRMW datagram. |
|
002fe9ec778f
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diff
changeset
|
326 |
* |
|
1313
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Improved error case return codes of many functions.
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|
327 |
* \return Return value of ec_datagram_prealloc(). |
|
815
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diff
changeset
|
328 |
*/ |
|
002fe9ec778f
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diff
changeset
|
329 |
int ec_datagram_frmw( |
|
002fe9ec778f
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diff
changeset
|
330 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
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diff
changeset
|
331 |
uint16_t configured_address, /**< Configured station address. */ |
|
002fe9ec778f
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diff
changeset
|
332 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
333 |
size_t data_size /**< Number of bytes to write. */ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
334 |
) |
|
002fe9ec778f
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diff
changeset
|
335 |
{
|
|
1313
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Improved error case return codes of many functions.
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diff
changeset
|
336 |
int ret; |
|
ed15eef57d5c
Improved error case return codes of many functions.
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diff
changeset
|
337 |
|
|
815
002fe9ec778f
Implemented missing datagram types.
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diff
changeset
|
338 |
if (unlikely(configured_address == 0x0000)) |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
339 |
EC_WARN("Using configured station address 0x0000!\n");
|
|
002fe9ec778f
Implemented missing datagram types.
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changeset
|
340 |
|
|
002fe9ec778f
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parents:
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diff
changeset
|
341 |
EC_FUNC_HEADER; |
|
002fe9ec778f
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diff
changeset
|
342 |
datagram->type = EC_DATAGRAM_FRMW; |
|
002fe9ec778f
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diff
changeset
|
343 |
EC_WRITE_U16(datagram->address, configured_address); |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
344 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
293
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
345 |
EC_FUNC_FOOTER; |
|
14aeb79aa992
Renamed command structure to datagram.
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246
diff
changeset
|
346 |
} |
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
347 |
|
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
348 |
/*****************************************************************************/ |
|
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
349 |
|
| 809 | 350 |
/** Initializes an EtherCAT BRD datagram. |
351 |
* |
|
|
1313
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Improved error case return codes of many functions.
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diff
changeset
|
352 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
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diff
changeset
|
353 |
*/ |
|
002fe9ec778f
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809
diff
changeset
|
354 |
int ec_datagram_brd( |
|
002fe9ec778f
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diff
changeset
|
355 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
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diff
changeset
|
356 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
357 |
size_t data_size /**< Number of bytes to read. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
358 |
) |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
360 |
int ret; |
|
293
14aeb79aa992
Renamed command structure to datagram.
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246
diff
changeset
|
361 |
EC_FUNC_HEADER; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
362 |
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
|
363 |
EC_WRITE_U16(datagram->address, 0x0000); |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
364 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
365 |
EC_FUNC_FOOTER; |
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
366 |
} |
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
367 |
|
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
368 |
/*****************************************************************************/ |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
369 |
|
| 809 | 370 |
/** Initializes an EtherCAT BWR datagram. |
371 |
* |
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
372 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
373 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
374 |
int ec_datagram_bwr( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
375 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
376 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
377 |
size_t data_size /**< Number of bytes to write. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
378 |
) |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
380 |
int ret; |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
381 |
EC_FUNC_HEADER; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
382 |
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
|
383 |
EC_WRITE_U16(datagram->address, 0x0000); |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
384 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
385 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
386 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
387 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
388 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
389 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
390 |
/** Initializes an EtherCAT BRW datagram. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
391 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
392 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
393 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
394 |
int ec_datagram_brw( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
395 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
396 |
uint16_t mem_address, /**< Physical memory address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
397 |
size_t data_size /**< Number of bytes to write. */ |
|
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 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
400 |
int ret; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
401 |
EC_FUNC_HEADER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
402 |
datagram->type = EC_DATAGRAM_BRW; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
403 |
EC_WRITE_U16(datagram->address, 0x0000); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
404 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
405 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
406 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
407 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
408 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
409 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
410 |
/** Initializes an EtherCAT LRD datagram. |
| 809 | 411 |
* |
412 |
* \attention It is assumed, that the external memory is at least \a data_size |
|
413 |
* bytes large. |
|
414 |
* |
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
415 |
* \return Return value of ec_datagram_prealloc(). |
| 809 | 416 |
*/ |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
417 |
int ec_datagram_lrd( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
418 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
419 |
uint32_t offset, /**< Logical address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
420 |
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
|
421 |
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
|
422 |
) |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
423 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
424 |
int ret; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
425 |
datagram->data = external_memory; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
426 |
datagram->data_origin = EC_ORIG_EXTERNAL; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
427 |
EC_FUNC_HEADER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
428 |
datagram->type = EC_DATAGRAM_LRD; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
429 |
EC_WRITE_U32(datagram->address, offset); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
430 |
EC_FUNC_FOOTER; |
|
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 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
433 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
434 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
435 |
/** Initializes an EtherCAT LWR datagram. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
436 |
* |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
437 |
* \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
|
438 |
* bytes large. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
439 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
440 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
441 |
*/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
442 |
int ec_datagram_lwr( |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
443 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
444 |
uint32_t offset, /**< Logical address. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
445 |
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
|
446 |
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
|
447 |
) |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
448 |
{
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
449 |
int ret; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
450 |
datagram->data = external_memory; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
451 |
datagram->data_origin = EC_ORIG_EXTERNAL; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
452 |
EC_FUNC_HEADER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
453 |
datagram->type = EC_DATAGRAM_LWR; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
454 |
EC_WRITE_U32(datagram->address, offset); |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
455 |
EC_FUNC_FOOTER; |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
456 |
} |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
457 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
458 |
/*****************************************************************************/ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
459 |
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
460 |
/** Initializes an EtherCAT LRW datagram. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
461 |
* |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
462 |
* \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
|
463 |
* bytes large. |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
464 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
465 |
* \return Return value of ec_datagram_prealloc(). |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
466 |
*/ |
| 809 | 467 |
int ec_datagram_lrw( |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
468 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
| 809 | 469 |
uint32_t offset, /**< Logical address. */ |
470 |
size_t data_size, /**< Number of bytes to read/write. */ |
|
471 |
uint8_t *external_memory /**< Pointer to the memory to use. */ |
|
472 |
) |
|
473 |
{
|
|
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
474 |
int ret; |
| 809 | 475 |
datagram->data = external_memory; |
476 |
datagram->data_origin = EC_ORIG_EXTERNAL; |
|
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
477 |
EC_FUNC_HEADER; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
478 |
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
|
479 |
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
|
480 |
EC_FUNC_FOOTER; |
|
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
514
diff
changeset
|
481 |
} |
|
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
514
diff
changeset
|
482 |
|
|
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
514
diff
changeset
|
483 |
/*****************************************************************************/ |
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
484 |
|
| 809 | 485 |
/** Evaluates the working counter of a single-cast datagram. |
486 |
* |
|
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
487 |
* Outputs an error message. |
|
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 |
void ec_datagram_print_wc_error( |
|
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
719
diff
changeset
|
490 |
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
|
491 |
) |
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
492 |
{
|
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
493 |
if (datagram->working_counter == 0) |
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
494 |
printk("No response.");
|
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
495 |
else if (datagram->working_counter > 1) |
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
496 |
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
|
497 |
else |
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
498 |
printk("Success.");
|
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
499 |
printk("\n");
|
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
500 |
} |
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
501 |
|
|
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
502 |
/*****************************************************************************/ |
|
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
503 |
|
| 809 | 504 |
/** Outputs datagram statistics at most every second. |
505 |
*/ |
|
|
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
506 |
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
|
507 |
ec_datagram_t *datagram |
|
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 |
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
|
511 |
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
|
512 |
|
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
513 |
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
|
514 |
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
|
515 |
(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
|
516 |
datagram->skip_count, |
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
517 |
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
|
518 |
datagram->skip_count = 0; |
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
519 |
} |
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
520 |
} |
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
521 |
} |
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
522 |
|
|
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
523 |
/*****************************************************************************/ |
|
816
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
524 |
|
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
525 |
/** Returns a string describing the datagram type. |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
526 |
*/ |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
527 |
const char *ec_datagram_type_string( |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
528 |
const ec_datagram_t *datagram /**< EtherCAT datagram. */ |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
529 |
) |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
530 |
{
|
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
531 |
return type_strings[datagram->type]; |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
532 |
} |
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
533 |
|
|
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
534 |
/*****************************************************************************/ |