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; either version 2 of the

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT datagram structure.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_DATAGRAM_H_

    42

#define _EC_DATAGRAM_H_

    43

    44

#include <linux/list.h>

    45

#include <linux/time.h>

    46

#include <linux/timex.h>

    47

    48

#include "globals.h"

    49

    50

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

    51

    52

/** size of the datagram description string */

    53

#define EC_DATAGRAM_NAME_SIZE 20

    54

    55

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

    56

    57

/**

    58

   EtherCAT datagram type.

    59

*/

    60

    61

typedef enum

    62

{

    63

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

    64

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

    65

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

    66

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

    67

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

    68

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

    69

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

    70

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

    71

}

    72

ec_datagram_type_t;

    73

    74

/**

    75

   EtherCAT datagram state.

    76

*/

    77

    78

typedef enum

    79

{

    80

    EC_DATAGRAM_INIT,      /**< new datagram */

    81

    EC_DATAGRAM_QUEUED,    /**< datagram queued for sending */

    82

    EC_DATAGRAM_SENT,      /**< datagram has been sent (still in the queue) */

    83

    EC_DATAGRAM_RECEIVED,  /**< datagram has been received (dequeued) */

    84

    EC_DATAGRAM_TIMED_OUT, /**< datagram timed out (dequeued) */

    85

    EC_DATAGRAM_ERROR      /**< error while sending/receiving (dequeued) */

    86

}

    87

ec_datagram_state_t;

    88

    89

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

    90

    91

/**

    92

   EtherCAT datagram.

    93

*/

    94

    95

typedef struct

    96

{

    97

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

    98

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

    99

    struct list_head sent; /**< master list item for sent datagrams */

   100

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

   101

    uint8_t address[EC_ADDR_LEN]; /**< recipient address */

   102

    uint8_t *data; /**< datagram data */

   103

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

   104

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

   105

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

   106

    uint16_t working_counter; /**< working counter */

   107

    ec_datagram_state_t state; /**< datagram state */

   108

    cycles_t cycles_sent; /**< time, the datagram was sent */

   109

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

   110

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

   111

    unsigned long jiffies_received; /**< jiffies the datagram was received */

   112

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

   113

    unsigned long stats_output_jiffies; /**< last statistics output */

   114

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

   115

}

   116

ec_datagram_t;

   117

   118

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

   119

   120

void ec_datagram_init(ec_datagram_t *);

   121

void ec_datagram_clear(ec_datagram_t *);

   122

int ec_datagram_prealloc(ec_datagram_t *, size_t);

   123

   124

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

   125

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

   126

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

   127

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

   128

int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);

   129

int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);

   130

int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);

   131

   132

void ec_datagram_print_wc_error(const ec_datagram_t *);

   133

void ec_datagram_output_stats(ec_datagram_t *datagram);

   134

   135

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

   136

   137

#endif