author | Florian Pose <fp@igh-essen.com> |
Wed, 05 Apr 2006 09:04:29 +0000 | |
changeset 156 | 43d7d714679f |
parent 144 | fdc24bf62f80 |
child 195 | 674071846ee3 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* 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 <linux/list.h> |
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#include "globals.h" |
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/*****************************************************************************/ |
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/** |
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EtherCAT-Kommando-Typ. |
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*/ |
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typedef enum |
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{ |
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EC_CMD_NONE = 0x00, /**< Dummy */ |
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EC_CMD_APRD = 0x01, /**< Auto-increment physical read */ |
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EC_CMD_APWR = 0x02, /**< Auto-increment physical write */ |
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EC_CMD_NPRD = 0x04, /**< Node-addressed physical read */ |
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EC_CMD_NPWR = 0x05, /**< Node-addressed physical write */ |
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EC_CMD_BRD = 0x07, /**< Broadcast read */ |
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EC_CMD_BWR = 0x08, /**< Broadcast write */ |
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EC_CMD_LRW = 0x0C /**< Logical read/write */ |
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} |
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ec_command_type_t; |
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/** |
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EtherCAT-Kommando-Zustand. |
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*/ |
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typedef enum |
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{ |
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EC_CMD_INIT, /**< Neues Kommando */ |
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EC_CMD_QUEUED, /**< Kommando in Warteschlange */ |
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EC_CMD_SENT, /**< Kommando gesendet */ |
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EC_CMD_RECEIVED, /**< Kommando empfangen */ |
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EC_CMD_TIMEOUT, /**< Zeitgrenze überschritten */ |
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EC_CMD_ERROR /**< Fehler beim Senden oder Empfangen */ |
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} |
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ec_command_state_t; |
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/*****************************************************************************/ |
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/** |
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EtherCAT-Adresse. |
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Im EtherCAT-Kommando sind 4 Bytes für die Adresse reserviert, die je nach |
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Kommandotyp, eine andere Bedeutung haben können: Bei Autoinkrementbefehlen |
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sind die ersten zwei Bytes die (negative) Autoinkrement-Adresse, bei Knoten- |
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adressierten Befehlen entsprechen sie der Knotenadresse. Das dritte und |
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vierte Byte entspricht in diesen Fällen der physikalischen Speicheradresse |
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auf dem Slave. 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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uint16_t slave; /**< Adresse des Slaves (Ringposition oder Knoten) */ |
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uint16_t mem; /**< Physikalische Speicheradresse im Slave */ |
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} |
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physical; /**< Physikalische Adresse */ |
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uint32_t logical; /**< Logische Adresse */ |
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} |
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ec_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 |
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{ |
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struct list_head list; /**< Kommando-Listeneintrag */ |
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struct list_head queue; /**< Master-Kommando-Queue */ |
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ec_command_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc) */ |
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ec_address_t address; /**< Adresse des/der Empfänger */ |
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uint8_t *data; /**< Kommandodaten */ |
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size_t mem_size; /**< Größe des Speichers */ |
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size_t data_size; /**< Länge der zu sendenden und/oder empfangenen Daten */ |
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uint8_t index; /**< Kommando-Index, wird vom Master beim Senden gesetzt. */ |
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uint16_t working_counter; /**< Working-Counter */ |
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ec_command_state_t state; /**< Zustand */ |
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} |
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ec_command_t; |
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/*****************************************************************************/ |
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void ec_command_init(ec_command_t *); |
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void ec_command_clear(ec_command_t *); |
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int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t); |
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int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t); |
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int ec_command_aprd(ec_command_t *, uint16_t, uint16_t, size_t); |
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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int ec_command_apwr(ec_command_t *, uint16_t, uint16_t, size_t); |
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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int ec_command_brd(ec_command_t *, uint16_t, size_t); |
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parents:
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int ec_command_bwr(ec_command_t *, uint16_t, size_t); |
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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int ec_command_lrw(ec_command_t *, uint32_t, size_t); |
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/*****************************************************************************/ |
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#endif |
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/* Emacs-Konfiguration |
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;;; Local Variables: *** |
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;;; c-basic-offset:4 *** |
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;;; End: *** |
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*/ |