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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 command structure.

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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 <linux/timex.h>

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#include "globals.h"

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

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/**

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   EtherCAT command type.

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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 command state.

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*/

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typedef enum

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{

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    EC_CMD_INIT, /**< new command */

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

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

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

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    EC_CMD_TIMEOUT, /**< command timed out */

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

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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 address.

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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; /**< configured or autoincrement address */

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

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    }

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    physical; /**< physical address */

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    uint32_t logical; /**< logical address */

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}

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ec_address_t;

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

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/**

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   EtherCAT command.

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*/

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typedef struct

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{

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

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

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

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    ec_address_t address; /**< receipient address */

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

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    size_t mem_size; /**< command \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; /**< command index (set by master) */

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    uint16_t working_counter; /**< working counter */

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    ec_command_state_t state; /**< command state */

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

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

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int ec_command_brd(ec_command_t *, uint16_t, size_t);

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int ec_command_bwr(ec_command_t *, uint16_t, size_t);

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int ec_command_lrw(ec_command_t *, uint32_t, size_t);

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

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#endif