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

    11

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

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

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

    23

    24

/**

    25

   \file

    26

   EtherCAT command structure.

    27

*/

    28

    29

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

    30

    31

#ifndef _EC_COMMAND_H_

    32

#define _EC_COMMAND_H_

    33

    34

#include <linux/list.h>

    35

#include <linux/timex.h>

    36

    37

#include "globals.h"

    38

    39

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

    40

    41

/**

    42

   EtherCAT command type.

    43

*/

    44

    45

typedef enum

    46

{

    47

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

    48

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

    49

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

    50

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

    51

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

    52

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

    53

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

    54

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

    55

}

    56

ec_command_type_t;

    57

    58

/**

    59

   EtherCAT command state.

    60

*/

    61

    62

typedef enum

    63

{

    64

    EC_CMD_INIT, /**< new command */

    65

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

    66

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

    67

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

    68

    EC_CMD_TIMEOUT, /**< command timed out */

    69

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

    70

}

    71

ec_command_state_t;

    72

    73

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

    74

    75

/**

    76

   EtherCAT address.

    77

*/

    78

    79

typedef union

    80

{

    81

    struct

    82

    {

    83

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

    84

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

    85

    }

    86

    physical; /**< physical address */

    87

    88

    uint32_t logical; /**< logical address */

    89

}

    90

ec_address_t;

    91

    92

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

    93

    94

/**

    95

   EtherCAT command.

    96

*/

    97

    98

typedef struct

    99

{

   100

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

   101

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

   102

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

   103

    ec_address_t address; /**< receipient address */

   104

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

   105

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

   106

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

   107

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

   108

    uint16_t working_counter; /**< working counter */

   109

    ec_command_state_t state; /**< command state */

   110

    cycles_t t_sent; /**< time, the commands was sent */

   111

}

   112

ec_command_t;

   113

   114

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

   115

   116

void ec_command_init(ec_command_t *);

   117

void ec_command_clear(ec_command_t *);

   118

   119

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

   120

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

   121

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

   122

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

   123

int ec_command_brd(ec_command_t *, uint16_t, size_t);

   124

int ec_command_bwr(ec_command_t *, uint16_t, size_t);

   125

int ec_command_lrw(ec_command_t *, uint32_t, size_t);

   126

   127

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

   128

   129

#endif