/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\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"
/*****************************************************************************/
/** Size of the datagram description string. */
#define EC_DATAGRAM_NAME_SIZE 20
/*****************************************************************************/
/** EtherCAT datagram type.
*/
typedef enum {
EC_DATAGRAM_NONE = 0x00, /**< Dummy. */
EC_DATAGRAM_APRD = 0x01, /**< Auto Increment Physical Read. */
EC_DATAGRAM_APWR = 0x02, /**< Auto Increment Physical Write. */
EC_DATAGRAM_APRW = 0x03, /**< Auto Increment Physical ReadWrite. */
EC_DATAGRAM_FPRD = 0x04, /**< Configured Address Physical Read. */
EC_DATAGRAM_FPWR = 0x05, /**< Configured Address Physical Write. */
EC_DATAGRAM_FPRW = 0x06, /**< Configured Address Physical ReadWrite. */
EC_DATAGRAM_BRD = 0x07, /**< Broadcast Read. */
EC_DATAGRAM_BWR = 0x08, /**< Broadcast Write. */
EC_DATAGRAM_BRW = 0x09, /**< Broadcast ReadWrite. */
EC_DATAGRAM_LRD = 0x0A, /**< Logical Read. */
EC_DATAGRAM_LWR = 0x0B, /**< Logical Write. */
EC_DATAGRAM_LRW = 0x0C, /**< Logical ReadWrite. */
EC_DATAGRAM_ARMW = 0x0D, /**< Auto Increment Physical Read Multiple
Write. */
EC_DATAGRAM_FRMW = 0x0E, /**< Configured Address Physical Read Multiple
Write. */
} ec_datagram_type_t;
/*****************************************************************************/
/** EtherCAT datagram state.
*/
typedef enum {
EC_DATAGRAM_INIT, /**< Initial state of a new datagram. */
EC_DATAGRAM_QUEUED, /**< Queued for sending. */
EC_DATAGRAM_SENT, /**< Sent (still in the queue). */
EC_DATAGRAM_RECEIVED, /**< Received (dequeued). */
EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */
EC_DATAGRAM_ERROR /**< Error while sending/receiving (dequeued). */
} ec_datagram_state_t;
/*****************************************************************************/
/** EtherCAT datagram.
*/
typedef struct {
struct list_head list; /**< Needed by domain datagram lists. */
struct list_head queue; /**< Master datagram queue item. */
struct list_head sent; /**< Master list item for sent datagrams. */
ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */
uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */
uint8_t *data; /**< Datagram payload. */
ec_origin_t data_origin; /**< Origin of the \a data memory. */
size_t mem_size; /**< Datagram \a data memory size. */
size_t data_size; /**< Size of the data in \a data. */
uint8_t index; /**< Index (set by master). */
uint16_t working_counter; /**< Working counter. */
ec_datagram_state_t state; /**< State. */
#ifdef EC_HAVE_CYCLES
cycles_t cycles_sent; /**< Time, when the datagram was sent. */
#endif
unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */
#ifdef EC_HAVE_CYCLES
cycles_t cycles_received; /**< Time, when the datagram was received. */
#endif
unsigned long jiffies_received; /**< Jiffies, when the datagram was
received. */
unsigned int skip_count; /**< Number of requeues when not yet received. */
unsigned long stats_output_jiffies; /**< Last statistics output. */
char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */
} 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);
void ec_datagram_zero(ec_datagram_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_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_frmw(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_brw(ec_datagram_t *, uint16_t, size_t);
int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t, uint8_t *);
int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t, uint8_t *);
int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *);
void ec_datagram_print_wc_error(const ec_datagram_t *);
void ec_datagram_output_stats(ec_datagram_t *);
const char *ec_datagram_type_string(const ec_datagram_t *);
/*****************************************************************************/
#endif