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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT datagram structure.

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*/

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

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#ifndef __EC_DATAGRAM_H__

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#define __EC_DATAGRAM_H__

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#include <linux/list.h>

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#include <linux/time.h>

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#include <linux/timex.h>

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#include "globals.h"

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

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/** Size of the datagram description string. */

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#define EC_DATAGRAM_NAME_SIZE 20

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

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/** EtherCAT datagram type.

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 */

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typedef enum {

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    EC_DATAGRAM_NONE = 0x00, /**< Dummy. */

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    EC_DATAGRAM_APRD = 0x01, /**< Auto Increment Physical Read. */

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    EC_DATAGRAM_APWR = 0x02, /**< Auto Increment Physical Write. */

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    EC_DATAGRAM_APRW = 0x03, /**< Auto Increment Physical ReadWrite. */

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    EC_DATAGRAM_FPRD = 0x04, /**< Configured Address Physical Read. */

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    EC_DATAGRAM_FPWR = 0x05, /**< Configured Address Physical Write. */

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    EC_DATAGRAM_FPRW = 0x06, /**< Configured Address Physical ReadWrite. */

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    EC_DATAGRAM_BRD  = 0x07, /**< Broadcast Read. */

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    EC_DATAGRAM_BWR  = 0x08, /**< Broadcast Write. */

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    EC_DATAGRAM_BRW  = 0x09, /**< Broadcast ReadWrite. */

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    EC_DATAGRAM_LRD  = 0x0A, /**< Logical Read. */

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    EC_DATAGRAM_LWR  = 0x0B, /**< Logical Write. */

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    EC_DATAGRAM_LRW  = 0x0C, /**< Logical ReadWrite. */

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    EC_DATAGRAM_ARMW = 0x0D, /**< Auto Increment Physical Read Multiple

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                               Write.  */

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    EC_DATAGRAM_FRMW = 0x0E, /**< Configured Address Physical Read Multiple

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                               Write. */

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} ec_datagram_type_t;

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

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/** EtherCAT datagram state.

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 */

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typedef enum {

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    EC_DATAGRAM_INIT,      /**< Initial state of a new datagram. */

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    EC_DATAGRAM_QUEUED,    /**< Queued for sending. */

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    EC_DATAGRAM_SENT,      /**< Sent (still in the queue). */

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    EC_DATAGRAM_RECEIVED,  /**< Received (dequeued). */

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    EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */

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    EC_DATAGRAM_ERROR      /**< Error while sending/receiving (dequeued). */

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} ec_datagram_state_t;

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

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/** EtherCAT datagram.

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 */

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typedef struct {

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    struct list_head list; /**< Needed by domain datagram lists. */

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    struct list_head queue; /**< Master datagram queue item. */

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    struct list_head sent; /**< Master list item for sent datagrams. */

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    ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */

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    uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */

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    uint8_t *data; /**< Datagram payload. */

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    ec_origin_t data_origin; /**< Origin of the \a data memory. */

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    size_t mem_size; /**< Datagram \a data memory size. */

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

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    uint8_t index; /**< Index (set by master). */

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    uint16_t working_counter; /**< Working counter. */

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    ec_datagram_state_t state; /**< State. */

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    cycles_t cycles_sent; /**< Time, when the datagram was sent. */

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    unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */

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    cycles_t cycles_received; /**< Time, when the datagram was received. */

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    unsigned long jiffies_received; /**< Jiffies, when the datagram was

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                                      received. */

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    unsigned int skip_count; /**< Number of requeues when not yet received. */

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    unsigned long stats_output_jiffies; /**< Last statistics output. */

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    char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */

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} ec_datagram_t;

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

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void ec_datagram_init(ec_datagram_t *);

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void ec_datagram_clear(ec_datagram_t *);

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int ec_datagram_prealloc(ec_datagram_t *, size_t);

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int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_frmw(ec_datagram_t *, uint16_t, uint16_t, size_t);

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int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);

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int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);

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int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t);

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int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t, uint8_t *);

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int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t, uint8_t *);

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int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *);

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void ec_datagram_print_wc_error(const ec_datagram_t *);

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void ec_datagram_output_stats(ec_datagram_t *);

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const char *ec_datagram_type_string(const ec_datagram_t *);

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

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#endif