fp@98: /******************************************************************************
fp@98:  *
fp@98:  *  $Id$
fp@98:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@197:  *  as published by the Free Software Foundation; version 2 of the License.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@98:  *****************************************************************************/
fp@98: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT command structure.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@98: #ifndef _EC_COMMAND_H_
fp@98: #define _EC_COMMAND_H_
fp@98: 
fp@98: #include <linux/list.h>
fp@208: #include <linux/timex.h>
fp@98: 
fp@98: #include "globals.h"
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    EtherCAT command type.
fp@98: */
fp@98: 
fp@98: typedef enum
fp@98: {
fp@98:     EC_CMD_NONE = 0x00, /**< Dummy */
fp@98:     EC_CMD_APRD = 0x01, /**< Auto-increment physical read */
fp@98:     EC_CMD_APWR = 0x02, /**< Auto-increment physical write */
fp@98:     EC_CMD_NPRD = 0x04, /**< Node-addressed physical read */
fp@98:     EC_CMD_NPWR = 0x05, /**< Node-addressed physical write */
fp@98:     EC_CMD_BRD  = 0x07, /**< Broadcast read */
fp@98:     EC_CMD_BWR  = 0x08, /**< Broadcast write */
fp@98:     EC_CMD_LRW  = 0x0C  /**< Logical read/write */
fp@98: }
fp@98: ec_command_type_t;
fp@98: 
fp@98: /**
fp@195:    EtherCAT command state.
fp@98: */
fp@98: 
fp@98: typedef enum
fp@98: {
fp@195:     EC_CMD_INIT, /**< new command */
fp@195:     EC_CMD_QUEUED, /**< command queued by master */
fp@195:     EC_CMD_SENT, /**< command has been sent */
fp@195:     EC_CMD_RECEIVED, /**< command has been received */
fp@195:     EC_CMD_TIMEOUT, /**< command timed out */
fp@195:     EC_CMD_ERROR /**< error while sending/receiving */
fp@98: }
fp@98: ec_command_state_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    EtherCAT address.
fp@98: */
fp@98: 
fp@98: typedef union
fp@98: {
fp@98:     struct
fp@98:     {
fp@195:         uint16_t slave; /**< configured or autoincrement address */
fp@195:         uint16_t mem; /**< physical memory address */
fp@98:     }
fp@195:     physical; /**< physical address */
fp@98: 
fp@195:     uint32_t logical; /**< logical address */
fp@98: }
fp@98: ec_address_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@199:    EtherCAT command.
fp@98: */
fp@98: 
fp@98: typedef struct
fp@98: {
fp@195:     struct list_head list; /**< needed by domain command lists */
fp@195:     struct list_head queue; /**< master command queue item */
fp@195:     ec_command_type_t type; /**< command type (APRD, BWR, etc) */
fp@195:     ec_address_t address; /**< receipient address */
fp@195:     uint8_t *data; /**< command data */
fp@195:     size_t mem_size; /**< command \a data memory size */
fp@195:     size_t data_size; /**< size of the data in \a data */
fp@195:     uint8_t index; /**< command index (set by master) */
fp@195:     uint16_t working_counter; /**< working counter */
fp@195:     ec_command_state_t state; /**< command state */
fp@208:     cycles_t t_sent; /**< time, the commands was sent */
fp@98: }
fp@98: ec_command_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@144: void ec_command_init(ec_command_t *);
fp@144: void ec_command_clear(ec_command_t *);
fp@238: int ec_command_prealloc(ec_command_t *, size_t);
fp@144: 
fp@144: int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t);
fp@144: int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t);
fp@144: int ec_command_aprd(ec_command_t *, uint16_t, uint16_t, size_t);
fp@144: int ec_command_apwr(ec_command_t *, uint16_t, uint16_t, size_t);
fp@144: int ec_command_brd(ec_command_t *, uint16_t, size_t);
fp@144: int ec_command_bwr(ec_command_t *, uint16_t, size_t);
fp@144: int ec_command_lrw(ec_command_t *, uint32_t, size_t);
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: #endif