1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT command structure.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#ifndef _EC_COMMAND_H_

    42

#define _EC_COMMAND_H_

    43

    44

#include <linux/list.h>

    46

    47

#include "globals.h"

    48

    49

/*****************************************************************************/

    50

    51

/**

    52

   EtherCAT command type.

    53

*/

    54

    55

typedef enum

    56

{

    57

    EC_CMD_NONE = 0x00, /**< Dummy */

    58

    EC_CMD_APRD = 0x01, /**< Auto-increment physical read */

    59

    EC_CMD_APWR = 0x02, /**< Auto-increment physical write */

    60

    EC_CMD_NPRD = 0x04, /**< Node-addressed physical read */

    61

    EC_CMD_NPWR = 0x05, /**< Node-addressed physical write */

    62

    EC_CMD_BRD  = 0x07, /**< Broadcast read */

    63

    EC_CMD_BWR  = 0x08, /**< Broadcast write */

    64

    EC_CMD_LRW  = 0x0C  /**< Logical read/write */

    65

}

    66

ec_command_type_t;

    67

    68

/**

    69

   EtherCAT command state.

    70

*/

    71

    72

typedef enum

    73

{

    74

    EC_CMD_INIT, /**< new command */

    75

    EC_CMD_QUEUED, /**< command queued by master */

    76

    EC_CMD_SENT, /**< command has been sent */

    77

    EC_CMD_RECEIVED, /**< command has been received */

    78

    EC_CMD_TIMEOUT, /**< command timed out */

    79

    EC_CMD_ERROR /**< error while sending/receiving */

    80

}

    81

ec_command_state_t;

    82

    83

/*****************************************************************************/

    84

    85

/**

    86

   EtherCAT address.

    87

*/

    88

    89

typedef union

    90

{

    91

    struct

    92

    {

    93

        uint16_t slave; /**< configured or autoincrement address */

    94

        uint16_t mem; /**< physical memory address */

    95

    }

    96

    physical; /**< physical address */

    97

    98

    uint32_t logical; /**< logical address */

    99

}

   100

ec_address_t;

   101

   102

/*****************************************************************************/

   103

   104

/**

   105

   EtherCAT command.

   106

*/

   107

   108

typedef struct

   109

{

   110

    struct list_head list; /**< needed by domain command lists */

   111

    struct list_head queue; /**< master command queue item */

   112

    ec_command_type_t type; /**< command type (APRD, BWR, etc) */

   113

    ec_address_t address; /**< receipient address */

   114

    uint8_t *data; /**< command data */

   115

    size_t mem_size; /**< command \a data memory size */

   116

    size_t data_size; /**< size of the data in \a data */

   117

    uint8_t index; /**< command index (set by master) */

   118

    uint16_t working_counter; /**< working counter */

   119

    ec_command_state_t state; /**< command state */

   121

}

   122

ec_command_t;

   123

   124

/*****************************************************************************/

   125

   126

void ec_command_init(ec_command_t *);

   127

void ec_command_clear(ec_command_t *);

   129

   130

int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t);

   131

int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t);

   132

int ec_command_aprd(ec_command_t *, uint16_t, uint16_t, size_t);

   133

int ec_command_apwr(ec_command_t *, uint16_t, uint16_t, size_t);

   134

int ec_command_brd(ec_command_t *, uint16_t, size_t);

   135

int ec_command_bwr(ec_command_t *, uint16_t, size_t);

   136

int ec_command_lrw(ec_command_t *, uint32_t, size_t);

   137

   138

/*****************************************************************************/

   139

   140

#endif