--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/datagram.h	Wed Aug 02 12:25:25 2006 +0000
@@ -0,0 +1,141 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT datagram structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef _EC_DATAGRAM_H_
+#define _EC_DATAGRAM_H_
+
+#include <linux/list.h>
+#include <linux/time.h>
+#include <linux/timex.h>
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+/**
+   EtherCAT datagram type.
+*/
+
+typedef enum
+{
+    EC_CMD_NONE = 0x00, /**< Dummy */
+    EC_CMD_APRD = 0x01, /**< Auto-increment physical read */
+    EC_CMD_APWR = 0x02, /**< Auto-increment physical write */
+    EC_CMD_NPRD = 0x04, /**< Node-addressed physical read */
+    EC_CMD_NPWR = 0x05, /**< Node-addressed physical write */
+    EC_CMD_BRD  = 0x07, /**< Broadcast read */
+    EC_CMD_BWR  = 0x08, /**< Broadcast write */
+    EC_CMD_LRW  = 0x0C  /**< Logical read/write */
+}
+ec_datagram_type_t;
+
+/**
+   EtherCAT datagram state.
+*/
+
+typedef enum
+{
+    EC_CMD_INIT, /**< new datagram */
+    EC_CMD_QUEUED, /**< datagram queued by master */
+    EC_CMD_SENT, /**< datagram has been sent */
+    EC_CMD_RECEIVED, /**< datagram has been received */
+    EC_CMD_TIMEOUT, /**< datagram timed out */
+    EC_CMD_ERROR /**< error while sending/receiving */
+}
+ec_datagram_state_t;
+
+/*****************************************************************************/
+
+/**
+   EtherCAT address.
+*/
+
+typedef union
+{
+    struct
+    {
+        uint16_t slave; /**< configured or autoincrement address */
+        uint16_t mem; /**< physical memory address */
+    }
+    physical; /**< physical address */
+
+    uint32_t logical; /**< logical address */
+}
+ec_address_t;
+
+/*****************************************************************************/
+
+/**
+   EtherCAT datagram.
+*/
+
+typedef struct
+{
+    struct list_head list; /**< needed by domain datagram lists */
+    struct list_head queue; /**< master datagram queue item */
+    ec_datagram_type_t type; /**< datagram type (APRD, BWR, etc) */
+    ec_address_t address; /**< receipient address */
+    uint8_t *data; /**< datagram data */
+    size_t mem_size; /**< datagram \a data memory size */
+    size_t data_size; /**< size of the data in \a data */
+    uint8_t index; /**< datagram index (set by master) */
+    uint16_t working_counter; /**< working counter */
+    ec_datagram_state_t state; /**< datagram state */
+    cycles_t t_sent; /**< time, the datagrams was sent */
+}
+ec_datagram_t;
+
+/*****************************************************************************/
+
+void ec_datagram_init(ec_datagram_t *);
+void ec_datagram_clear(ec_datagram_t *);
+int ec_datagram_prealloc(ec_datagram_t *, size_t);
+
+int ec_datagram_nprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
+int ec_datagram_npwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
+int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
+int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
+int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
+int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
+int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
+
+/*****************************************************************************/
+
+#endif