1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006-2012  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 and/or

    10  *  modify it under the terms of the GNU General Public License version 2, as

    11  *  published by the Free Software Foundation.

    12  *

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

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

    15  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16  *  Public License for more details.

    17  *

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

    19  *  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  *  The license mentioned above concerns the source code only. Using the

    25  *  EtherCAT technology and brand is only permitted in compliance with the

    26  *  industrial property and similar rights of Beckhoff Automation GmbH.

    27  *

    28  *****************************************************************************/

    29 

    30 /**

    31    \file

    32    EtherCAT datagram pair structure.

    33 */

    34 

    35 /*****************************************************************************/

    36 

    37 #ifndef __EC_DATAGRAM_PAIR_H__

    38 #define __EC_DATAGRAM_PAIR_H__

    39 

    40 #include <linux/list.h>

    41 

    42 #include "globals.h"

    43 #include "datagram.h"

    44 

    45 /*****************************************************************************/

    46 

    47 /** Domain datagram pair.

    48  */

    49 typedef struct {

    50     struct list_head list; /**< List header. */

    51     ec_domain_t *domain;

    52     ec_datagram_t datagrams[EC_NUM_DEVICES]; /**< Main and backup datagram.

    53                                                */

    54     uint8_t *send_buffer;

    55     unsigned int expected_working_counter; /**< Expectord working conter. */

    56 } ec_datagram_pair_t;

    57 

    58 /*****************************************************************************/

    59 

    60 int ec_datagram_pair_init(ec_datagram_pair_t *, ec_domain_t *, uint32_t,

    61         uint8_t *, size_t, const unsigned int []);

    62 void ec_datagram_pair_clear(ec_datagram_pair_t *);

    63 

    64 uint16_t ec_datagram_pair_process(ec_datagram_pair_t *,

    65         uint16_t[EC_NUM_DEVICES]);

    66 

    67 /*****************************************************************************/

    68 

    69 #endif