etherlabmaster: master/mailbox.h@83e9160319ec (annotated)

145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	11	* published by the Free Software Foundation.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	16	* Public License for more details.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	27	*
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	30	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	31	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	32	Mailbox functionality.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	33	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36
883 4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 390 diff changeset	37	#ifndef __EC_MAILBOX_H__
4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 390 diff changeset	38	#define __EC_MAILBOX_H__
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	40	#include "globals.h"
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	41	#include "datagram.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1907 dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	45	/** Size of the mailbox header.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	46	*/
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	47	#define EC_MBOX_HEADER_SIZE 6
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	48
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	49	/*****************************************************************************/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	50
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	51	/** EtherCAT slave mailbox.
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	52	*/
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	53	struct ec_mailbox
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	54	{
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	55	ec_datagram_t datagram; /< Datagram used for the mailbox content. /
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	56	#ifdef EC_REDUCE_MBOXFRAMESIZE
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	57	ec_datagram_t end_datagram; /**< Datagram used for writing the end byte to
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	58	the mailbox. */
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	59	#endif
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	60	};
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	61	typedef struct ec_mailbox ec_mailbox_t; /*< \see ec_mailbox. /
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	62
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	63	/*****************************************************************************/
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	64
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	65	void ec_mbox_init(ec_mailbox_t , ec_datagram_t );
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	66	void ec_mbox_clear(ec_mailbox_t *);
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	67
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	68	/**
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	69	Checks the datagrams states.
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	70	*/
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	71	static inline int ec_mbox_is_datagram_state(
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	72	ec_mailbox_t *mbox,
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	73	ec_datagram_state_t state
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	74	)
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	75	{
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	76	return (mbox->datagram->state == state)
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	77	#ifdef EC_REDUCE_MBOXFRAMESIZE
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	78	&& (mbox->end_datagram.type == EC_DATAGRAM_NONE
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	79	\|\| mbox->end_datagram.state == state)
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	80	#endif
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	81	;
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	82	}
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	83
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	84	/**
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	85	Checks the datagrams working counter.
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	86	*/
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	87	static inline int ec_mbox_is_datagram_wc(
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	88	ec_mailbox_t *mbox,
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	89	size_t wc
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	90	)
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	91	{
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	92	return (mbox->datagram->working_counter == wc)
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	93	#ifdef EC_REDUCE_MBOXFRAMESIZE
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	94	&& (mbox->end_datagram.type == EC_DATAGRAM_NONE
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	95	\|\| mbox->end_datagram.working_counter == wc)
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	96	#endif
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	97	;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	98	}
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1907 diff changeset	99
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	100	void ec_slave_mbox_queue_datagrams(const ec_slave_t , ec_mailbox_t );
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	101	void ec_master_mbox_queue_datagrams(ec_master_t , ec_mailbox_t );
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	102	uint8_t ec_slave_mbox_prepare_send(const ec_slave_t , ec_mailbox_t *,
279 12f48c1cb143 Removed mbox_command out of slave. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	103	uint8_t, size_t);
2094 83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	104	int ec_slave_mbox_prepare_check(const ec_slave_t , ec_mailbox_t );
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	105	int ec_slave_mbox_check(ec_mailbox_t *);
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	106	int ec_slave_mbox_prepare_fetch(const ec_slave_t , ec_mailbox_t );
83e9160319ec Minor: Fixed line wraps and spacing. Florian Pose <fp@igh-essen.com> parents: 2045 diff changeset	107	uint8_t ec_slave_mbox_fetch(const ec_slave_t , ec_mailbox_t *,
390 685c267d80d8 Fixed mailbox bug, added mailbox error codes. Florian Pose <fp@igh-essen.com> parents: 328 diff changeset	108	uint8_t , size_t );
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	#endif

author	Florian Pose <fp@igh-essen.com>
	Mon, 01 Aug 2011 17:02:45 +0200
changeset 2094	83e9160319ec
parent 2045	ff2a13a4603c
child 2589	2b9c78543663
permissions	-rw-r--r--