drivers/ec_command.h
author Florian Pose <fp@igh-essen.com>
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/******************************************************************************
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 *
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 *  e c _ c o m m a n d . h
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 *
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 *  Struktur für ein EtherCAT-Kommando.
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 *
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 *  $Id$
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 *
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 *****************************************************************************/
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#ifndef _EC_COMMAND_H_
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#define _EC_COMMAND_H_
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#include "ec_globals.h"
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/*****************************************************************************/
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/**
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   Status eines EtherCAT-Kommandos.
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*/
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typedef enum
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{
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  ECAT_CS_READY, ECAT_CS_SENT, ECAT_CS_RECEIVED
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}
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EtherCAT_command_state_t;
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/*****************************************************************************/
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/**
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   EtherCAT-Adresse.
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   Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die
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   ja nach Kommandoty eine andere bedeutung haben: Bei Autoinkrement-
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   befehlen sind die ersten zwei Bytes die (negative)
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   Autoinkrement-Adresse, bei Knoten-adressierten Befehlen entsprechen
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   sie der Knotenadresse. Das dritte und vierte Byte entspricht in
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   diesen Fällen der physikalischen Speicheradresse auf dem Slave.
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   Bei einer logischen Adressierung entsprechen alle vier Bytes
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   der logischen Adresse.
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*/
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typedef union
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{
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  struct
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  {
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    union
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    {
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      short pos; /**< (Negative) Ring-Position des Slaves */
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      unsigned short node; /**< Konfigurierte Knotenadresse */
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    }
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    dev;
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    unsigned short mem; /**< Physikalische Speicheradresse im Slave */
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  }
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  phy;
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  unsigned long logical; /**< Logische Adresse */
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  unsigned char raw[4]; /**< Rohdaten für die Generierung des Frames */
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}
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EtherCAT_address_t;
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/*****************************************************************************/
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/**
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   EtherCAT-Kommando.
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*/
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typedef struct EtherCAT_command
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{
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  EtherCAT_cmd_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc...) */
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  EtherCAT_address_t address; /**< Adresse des/der Empfänger */
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  unsigned int data_length; /**< Länge der zu sendenden und/oder
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                               empfangenen Daten */
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  EtherCAT_command_state_t state; /**< Zustand des Kommandos
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                                     (bereit, gesendet, etc...) */
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  unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet
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                          wurde (wird vom Master beim Senden gesetzt. */
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  unsigned int working_counter; /**< Working-Counter bei Empfang (wird
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                                   vom Master gesetzt) */
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  unsigned char data[ECAT_FRAME_BUFFER_SIZE]; /**< Kommandodaten */
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}
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EtherCAT_command_t;
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/*****************************************************************************/
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void EtherCAT_command_init(EtherCAT_command_t *);
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void EtherCAT_command_clear(EtherCAT_command_t *);
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void EtherCAT_command_read(EtherCAT_command_t *,
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                           unsigned short,
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                           unsigned short,
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                           unsigned int);
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void EtherCAT_command_write(EtherCAT_command_t *,
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                            unsigned short,
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                            unsigned short,
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                            unsigned int,
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                            const unsigned char *);
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void EtherCAT_command_position_read(EtherCAT_command_t *,
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                                    short,
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                                    unsigned short,
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                                    unsigned int);
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void EtherCAT_command_position_write(EtherCAT_command_t *,
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                                     short,
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                                     unsigned short,
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                                     unsigned int,
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                                     const unsigned char *);
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void EtherCAT_command_broadcast_read(EtherCAT_command_t *,
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                                     unsigned short,
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                                     unsigned int);
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void EtherCAT_command_broadcast_write(EtherCAT_command_t *,
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                                      unsigned short,
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                                      unsigned int,
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                                      const unsigned char *);
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void EtherCAT_command_logical_read_write(EtherCAT_command_t *,
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                                         unsigned int,
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                                         unsigned int,
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                                         unsigned char *);
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/*****************************************************************************/
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#endif