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 /**

    53    EtherCAT datagram type.

    54 */

    55 

    56 typedef enum

    57 {

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

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

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

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

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

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

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

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

    66 }

    67 ec_datagram_type_t;

    68 

    69 /**

    70    EtherCAT datagram state.

    71 */

    72 

    73 typedef enum

    74 {

    75     EC_CMD_INIT, /**< new datagram */

    76     EC_CMD_QUEUED, /**< datagram queued by master */

    77     EC_CMD_SENT, /**< datagram has been sent */

    78     EC_CMD_RECEIVED, /**< datagram has been received */

    79     EC_CMD_TIMEOUT, /**< datagram timed out */

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

    81 }

    82 ec_datagram_state_t;

    83 

    84 /*****************************************************************************/

    85 

    86 /**

    87    EtherCAT address.

    88 */

    89 

    90 typedef union

    91 {

    92     struct

    93     {

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

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

    96     }

    97     physical; /**< physical address */

    98 

    99     uint32_t logical; /**< logical address */

   100 }

   101 ec_address_t;

   102 

   103 /*****************************************************************************/

   104 

   105 /**

   106    EtherCAT datagram.

   107 */

   108 

   109 typedef struct

   110 {

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

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

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

   114     ec_address_t address; /**< receipient address */

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

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

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

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

   119     uint16_t working_counter; /**< working counter */

   120     ec_datagram_state_t state; /**< datagram state */

   121     cycles_t t_sent; /**< time, the datagrams was sent */

   122 }

   123 ec_datagram_t;

   124 

   125 /*****************************************************************************/

   126 

   127 void ec_datagram_init(ec_datagram_t *);

   128 void ec_datagram_clear(ec_datagram_t *);

   129 int ec_datagram_prealloc(ec_datagram_t *, size_t);

   130 

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

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

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

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

   135 int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);

   136 int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);

   137 int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);

   138 

   139 /*****************************************************************************/

   140 

   141 #endif