Improved Makefiles.
/******************************************************************************
*
* $Id$
*
* 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_DATAGRAM_NONE = 0x00, /**< Dummy */
EC_DATAGRAM_APRD = 0x01, /**< Auto-increment physical read */
EC_DATAGRAM_APWR = 0x02, /**< Auto-increment physical write */
EC_DATAGRAM_NPRD = 0x04, /**< Node-addressed physical read */
EC_DATAGRAM_NPWR = 0x05, /**< Node-addressed physical write */
EC_DATAGRAM_BRD = 0x07, /**< Broadcast read */
EC_DATAGRAM_BWR = 0x08, /**< Broadcast write */
EC_DATAGRAM_LRW = 0x0C /**< Logical read/write */
}
ec_datagram_type_t;
/**
EtherCAT datagram state.
*/
typedef enum
{
EC_DATAGRAM_INIT, /**< new datagram */
EC_DATAGRAM_QUEUED, /**< datagram queued for sending */
EC_DATAGRAM_SENT, /**< datagram has been sent (still in the queue) */
EC_DATAGRAM_RECEIVED, /**< datagram has been received (dequeued) */
EC_DATAGRAM_TIMED_OUT, /**< datagram timed out (dequeued) */
EC_DATAGRAM_ERROR /**< error while sending/receiving (dequeued) */
}
ec_datagram_state_t;
/*****************************************************************************/
/**
EtherCAT address.
*/
typedef union
{
/**
* Physical address.
*/
struct
{
uint16_t slave; /**< configured or autoincrement address */
uint16_t mem; /**< physical memory address */
}
physical;
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 */
struct list_head sent; /**< master list item for sent datagrams */
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 cycles_sent; /**< time, the datagram was sent */
unsigned long jiffies_sent; /**< jiffies, when the datagram was sent */
cycles_t cycles_received; /**< time, when the datagram was received */
unsigned long jiffies_received; /**< jiffies, when the datagram was rec. */
}
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