fp@98: /******************************************************************************
fp@98:  *
fp@2099:  *  $Id$
fp@98:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@98:  *****************************************************************************/
fp@98: 
fp@199: /**
fp@199:    \file
fp@293:    Methods of an EtherCAT datagram.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@98: #include <linux/slab.h>
fp@98: 
fp@293: #include "datagram.h"
fp@98: #include "master.h"
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@199: /** \cond */
fp@199: 
fp@98: #define EC_FUNC_HEADER \
fp@1313:     ret = ec_datagram_prealloc(datagram, data_size); \
fp@1313:     if (unlikely(ret)) \
fp@1313:         return ret; \
fp@293:     datagram->index = 0; \
fp@293:     datagram->working_counter = 0; \
fp@325:     datagram->state = EC_DATAGRAM_INIT;
fp@98: 
fp@144: #define EC_FUNC_FOOTER \
fp@293:     datagram->data_size = data_size; \
fp@144:     return 0;
fp@144: 
fp@199: /** \endcond */
fp@199: 
fp@144: /*****************************************************************************/
fp@144: 
fp@816: /** Array of datagram type strings used in ec_datagram_type_string().
fp@816:  *
fp@816:  * \attention This is indexed by ec_datagram_type_t.
fp@816:  */
fp@816: static const char *type_strings[] = {
fp@816:     "?",
fp@816:     "APRD",
fp@816:     "APWR",
fp@816:     "APRW",
fp@816:     "FPRD",
fp@816:     "FPWR",
fp@816:     "FPRW",
fp@816:     "BRD",
fp@816:     "BWR",
fp@816:     "BRW",
fp@816:     "LRD",
fp@816:     "LWR",
fp@816:     "LRW",
fp@816:     "ARMW",
fp@816:     "FRMW"
fp@816: };
fp@2421: 
fp@816: /*****************************************************************************/
fp@816: 
fp@809: /** Constructor.
fp@809:  */
fp@815: void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram. */)
fp@293: {
fp@446:     INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
fp@2268:     datagram->device_index = EC_DEVICE_MAIN;
fp@325:     datagram->type = EC_DATAGRAM_NONE;
fp@708:     memset(datagram->address, 0x00, EC_ADDR_LEN);
fp@293:     datagram->data = NULL;
fp@809:     datagram->data_origin = EC_ORIG_INTERNAL;
fp@293:     datagram->mem_size = 0;
fp@293:     datagram->data_size = 0;
fp@293:     datagram->index = 0x00;
fp@809:     datagram->working_counter = 0x0000;
fp@325:     datagram->state = EC_DATAGRAM_INIT;
fp@1040: #ifdef EC_HAVE_CYCLES
fp@344:     datagram->cycles_sent = 0;
fp@1040: #endif
fp@398:     datagram->jiffies_sent = 0;
fp@1040: #ifdef EC_HAVE_CYCLES
fp@398:     datagram->cycles_received = 0;
fp@1040: #endif
fp@398:     datagram->jiffies_received = 0;
fp@719:     datagram->skip_count = 0;
fp@719:     datagram->stats_output_jiffies = 0;
fp@809:     memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@809: /** Destructor.
fp@809:  */
fp@815: void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram. */)
fp@293: {
fp@1553:     ec_datagram_unqueue(datagram);
fp@1553: 
fp@1333:     if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
fp@809:         kfree(datagram->data);
fp@1507:         datagram->data = NULL;
fp@1333:     }
fp@809: }
fp@809: 
fp@809: /*****************************************************************************/
fp@809: 
fp@1553: /** Unqueue datagram.
fp@1553:  */
fp@1553: void ec_datagram_unqueue(ec_datagram_t *datagram /**< EtherCAT datagram. */)
fp@1553: {
fp@1553:     if (!list_empty(&datagram->queue)) {
fp@1553:         list_del_init(&datagram->queue);
fp@1553:     }
fp@1553: }
fp@1553: 
fp@1553: /*****************************************************************************/
fp@1553: 
fp@809: /** Allocates internal payload memory.
fp@809:  *
fp@809:  * If the allocated memory is already larger than requested, nothing ist done.
fp@809:  *
fp@809:  * \attention If external payload memory has been provided, no range checking
fp@809:  *            is done!
fp@809:  *
fp@1312:  * \return 0 in case of success, otherwise \a -ENOMEM.
fp@809:  */
fp@815: int ec_datagram_prealloc(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         size_t size /**< New payload size in bytes. */
fp@809:         )
fp@809: {
fp@809:     if (datagram->data_origin == EC_ORIG_EXTERNAL
fp@809:             || size <= datagram->mem_size)
fp@809:         return 0;
fp@293: 
fp@293:     if (datagram->data) {
fp@293:         kfree(datagram->data);
fp@293:         datagram->data = NULL;
fp@293:         datagram->mem_size = 0;
fp@144:     }
fp@144: 
fp@998:     if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
fp@1543:         EC_ERR("Failed to allocate %zu bytes of datagram memory!\n", size);
fp@1312:         return -ENOMEM;
fp@144:     }
fp@144: 
fp@293:     datagram->mem_size = size;
fp@144:     return 0;
fp@144: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@1225: /** Fills the datagram payload memory with zeros.
fp@1225:  */
fp@1225: void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
fp@1225: {
fp@1225:     memset(datagram->data, 0x00, datagram->data_size);
fp@1225: }
fp@1225: 
fp@1225: /*****************************************************************************/
fp@1225: 
fp@809: /** Initializes an EtherCAT APRD datagram.
fp@809:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_aprd(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t ring_position, /**< Auto-increment address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to read. */
fp@815:         )
fp@293: {
fp@1313:     int ret;
fp@293:     EC_FUNC_HEADER;
fp@325:     datagram->type = EC_DATAGRAM_APRD;
fp@708:     EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@293:     EC_FUNC_FOOTER;
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@809: /** Initializes an EtherCAT APWR datagram.
fp@809:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_apwr(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t ring_position, /**< Auto-increment address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@293: {
fp@1313:     int ret;
fp@293:     EC_FUNC_HEADER;
fp@325:     datagram->type = EC_DATAGRAM_APWR;
fp@708:     EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT APRW datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_aprw(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t ring_position, /**< Auto-increment address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_APRW;
fp@815:     EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT ARMW datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_armw(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t ring_position, /**< Auto-increment address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to read. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_ARMW;
fp@815:     EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT FPRD datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_fprd(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t configured_address, /**< Configured station address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to read. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@1313: 
fp@815:     if (unlikely(configured_address == 0x0000))
fp@815:         EC_WARN("Using configured station address 0x0000!\n");
fp@815: 
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_FPRD;
fp@815:     EC_WRITE_U16(datagram->address, configured_address);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT FPWR datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_fpwr(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t configured_address, /**< Configured station address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@1313: 
fp@815:     if (unlikely(configured_address == 0x0000))
fp@815:         EC_WARN("Using configured station address 0x0000!\n");
fp@815: 
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_FPWR;
fp@815:     EC_WRITE_U16(datagram->address, configured_address);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT FPRW datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_fprw(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t configured_address, /**< Configured station address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@1313: 
fp@815:     if (unlikely(configured_address == 0x0000))
fp@815:         EC_WARN("Using configured station address 0x0000!\n");
fp@815: 
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_FPRW;
fp@815:     EC_WRITE_U16(datagram->address, configured_address);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT FRMW datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_frmw(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t configured_address, /**< Configured station address. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@1313: 
fp@815:     if (unlikely(configured_address == 0x0000))
fp@815:         EC_WARN("Using configured station address 0x0000!\n");
fp@815: 
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_FRMW;
fp@815:     EC_WRITE_U16(datagram->address, configured_address);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@293:     EC_FUNC_FOOTER;
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@809: /** Initializes an EtherCAT BRD datagram.
fp@809:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_brd(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to read. */
fp@815:         )
fp@98: {
fp@1313:     int ret;
fp@293:     EC_FUNC_HEADER;
fp@325:     datagram->type = EC_DATAGRAM_BRD;
fp@708:     EC_WRITE_U16(datagram->address, 0x0000);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@293:     EC_FUNC_FOOTER;
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@809: /** Initializes an EtherCAT BWR datagram.
fp@809:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_bwr(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@98: {
fp@1313:     int ret;
fp@293:     EC_FUNC_HEADER;
fp@325:     datagram->type = EC_DATAGRAM_BWR;
fp@708:     EC_WRITE_U16(datagram->address, 0x0000);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT BRW datagram.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@815: int ec_datagram_brw(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint16_t mem_address, /**< Physical memory address. */
fp@815:         size_t data_size /**< Number of bytes to write. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_BRW;
fp@815:     EC_WRITE_U16(datagram->address, 0x0000);
fp@815:     EC_WRITE_U16(datagram->address + 2, mem_address);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@815: /** Initializes an EtherCAT LRD datagram.
fp@809:  *
fp@2269:  * \return Return value of ec_datagram_prealloc().
fp@2269:  */
fp@2269: int ec_datagram_lrd(
fp@2269:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@2269:         uint32_t offset, /**< Logical address. */
fp@2269:         size_t data_size /**< Number of bytes to read/write. */
fp@2269:         )
fp@2269: {
fp@2269:     int ret;
fp@2269:     EC_FUNC_HEADER;
fp@2269:     datagram->type = EC_DATAGRAM_LRD;
fp@2269:     EC_WRITE_U32(datagram->address, offset);
fp@2269:     EC_FUNC_FOOTER;
fp@2269: }
fp@2269: 
fp@2269: /*****************************************************************************/
fp@2269: 
fp@2269: /** Initializes an EtherCAT LWR datagram.
fp@2269:  *
fp@2269:  * \return Return value of ec_datagram_prealloc().
fp@2269:  */
fp@2269: int ec_datagram_lwr(
fp@2269:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@2269:         uint32_t offset, /**< Logical address. */
fp@2269:         size_t data_size /**< Number of bytes to read/write. */
fp@2269:         )
fp@2269: {
fp@2269:     int ret;
fp@2269:     EC_FUNC_HEADER;
fp@2269:     datagram->type = EC_DATAGRAM_LWR;
fp@2269:     EC_WRITE_U32(datagram->address, offset);
fp@2269:     EC_FUNC_FOOTER;
fp@2269: }
fp@2269: 
fp@2269: /*****************************************************************************/
fp@2269: 
fp@2269: /** Initializes an EtherCAT LRW datagram.
fp@2269:  *
fp@2269:  * \return Return value of ec_datagram_prealloc().
fp@2269:  */
fp@2269: int ec_datagram_lrw(
fp@2269:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@2269:         uint32_t offset, /**< Logical address. */
fp@2269:         size_t data_size /**< Number of bytes to read/write. */
fp@2269:         )
fp@2269: {
fp@2269:     int ret;
fp@2269:     EC_FUNC_HEADER;
fp@2269:     datagram->type = EC_DATAGRAM_LRW;
fp@2269:     EC_WRITE_U32(datagram->address, offset);
fp@2269:     EC_FUNC_FOOTER;
fp@2269: }
fp@2269: 
fp@2269: /*****************************************************************************/
fp@2269: 
fp@2269: /** Initializes an EtherCAT LRD datagram with external memory.
fp@2269:  *
fp@809:  * \attention It is assumed, that the external memory is at least \a data_size
fp@809:  *            bytes large.
fp@809:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@809:  */
fp@2269: int ec_datagram_lrd_ext(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint32_t offset, /**< Logical address. */
fp@815:         size_t data_size, /**< Number of bytes to read/write. */
fp@815:         uint8_t *external_memory /**< Pointer to the memory to use. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@815:     datagram->data = external_memory;
fp@815:     datagram->data_origin = EC_ORIG_EXTERNAL;
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_LRD;
fp@815:     EC_WRITE_U32(datagram->address, offset);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@2269: /** Initializes an EtherCAT LWR datagram with external memory.
fp@815:  *
fp@815:  * \attention It is assumed, that the external memory is at least \a data_size
fp@815:  *            bytes large.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@2269: int ec_datagram_lwr_ext(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@815:         uint32_t offset, /**< Logical address. */
fp@815:         size_t data_size, /**< Number of bytes to read/write. */
fp@815:         uint8_t *external_memory /**< Pointer to the memory to use. */
fp@815:         )
fp@815: {
fp@1313:     int ret;
fp@815:     datagram->data = external_memory;
fp@815:     datagram->data_origin = EC_ORIG_EXTERNAL;
fp@815:     EC_FUNC_HEADER;
fp@815:     datagram->type = EC_DATAGRAM_LWR;
fp@815:     EC_WRITE_U32(datagram->address, offset);
fp@815:     EC_FUNC_FOOTER;
fp@815: }
fp@815: 
fp@815: /*****************************************************************************/
fp@815: 
fp@2269: /** Initializes an EtherCAT LRW datagram with external memory.
fp@815:  *
fp@815:  * \attention It is assumed, that the external memory is at least \a data_size
fp@815:  *            bytes large.
fp@815:  *
fp@1313:  * \return Return value of ec_datagram_prealloc().
fp@815:  */
fp@2269: int ec_datagram_lrw_ext(
fp@815:         ec_datagram_t *datagram, /**< EtherCAT datagram. */
fp@809:         uint32_t offset, /**< Logical address. */
fp@809:         size_t data_size, /**< Number of bytes to read/write. */
fp@809:         uint8_t *external_memory /**< Pointer to the memory to use. */
fp@809:         )
fp@809: {
fp@1313:     int ret;
fp@809:     datagram->data = external_memory;
fp@809:     datagram->data_origin = EC_ORIG_EXTERNAL;
fp@144:     EC_FUNC_HEADER;
fp@325:     datagram->type = EC_DATAGRAM_LRW;
fp@708:     EC_WRITE_U32(datagram->address, offset);
fp@708:     EC_FUNC_FOOTER;
fp@708: }
fp@708: 
fp@708: /*****************************************************************************/
fp@713: 
fp@1822: /** Prints the state of a datagram.
fp@1822:  *
fp@1822:  * Outputs a text message.
fp@1822:  */
fp@1822: void ec_datagram_print_state(
fp@1822:         const ec_datagram_t *datagram /**< EtherCAT datagram */
fp@1822:         )
fp@1822: {
fp@1822:     printk("Datagram ");
fp@1822:     switch (datagram->state) {
fp@1822:         case EC_DATAGRAM_INIT:
fp@1822:             printk("initialized");
fp@1822:             break;
fp@1822:         case EC_DATAGRAM_QUEUED:
fp@1822:             printk("queued");
fp@1822:             break;
fp@1822:         case EC_DATAGRAM_SENT:
fp@1822:             printk("sent");
fp@1822:             break;
fp@1822:         case EC_DATAGRAM_RECEIVED:
fp@1822:             printk("received");
fp@1822:             break;
fp@1822:         case EC_DATAGRAM_TIMED_OUT:
fp@1822:             printk("timed out");
fp@1822:             break;
fp@1822:         case EC_DATAGRAM_ERROR:
fp@1822:             printk("error");
fp@1822:             break;
fp@1822:         default:
fp@1822:             printk("???");
fp@1822:     }
fp@1822: 
fp@1822:     printk(".\n");
fp@1822: }
fp@1822: 
fp@1822: /*****************************************************************************/
fp@1822: 
fp@809: /** Evaluates the working counter of a single-cast datagram.
fp@809:  *
fp@713:  * Outputs an error message.
fp@713:  */
fp@713: void ec_datagram_print_wc_error(
fp@758:         const ec_datagram_t *datagram /**< EtherCAT datagram */
fp@713:         )
fp@713: {
fp@713:     if (datagram->working_counter == 0)
fp@713:         printk("No response.");
fp@713:     else if (datagram->working_counter > 1)
fp@713:         printk("%u slaves responded!", datagram->working_counter);
fp@713:     else
fp@713:         printk("Success.");
fp@713:     printk("\n");
fp@713: }
fp@713: 
fp@713: /*****************************************************************************/
fp@719: 
fp@809: /** Outputs datagram statistics at most every second.
fp@809:  */
fp@719: void ec_datagram_output_stats(
fp@719:         ec_datagram_t *datagram
fp@719:         )
fp@719: {
fp@2081:     if (jiffies - datagram->stats_output_jiffies > HZ) {
fp@719:         datagram->stats_output_jiffies = jiffies;
fp@2421: 
fp@719:         if (unlikely(datagram->skip_count)) {
fp@1543:             EC_WARN("Datagram %p (%s) was SKIPPED %u time%s.\n",
fp@1543:                     datagram, datagram->name,
fp@719:                     datagram->skip_count,
fp@719:                     datagram->skip_count == 1 ? "" : "s");
fp@719:             datagram->skip_count = 0;
fp@719:         }
fp@719:     }
fp@719: }
fp@719: 
fp@719: /*****************************************************************************/
fp@816: 
fp@816: /** Returns a string describing the datagram type.
fp@2522:  *
fp@2522:  * \return Pointer on a static memory containing the requested string.
fp@816:  */
fp@816: const char *ec_datagram_type_string(
fp@816:         const ec_datagram_t *datagram /**< EtherCAT datagram. */
fp@816:         )
fp@816: {
fp@816:     return type_strings[datagram->type];
fp@816: }
fp@816: 
fp@816: /*****************************************************************************/