/****************************************************************************** * * $Id$ * * 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 * * Using the EtherCAT technology and brand is 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 #include #include #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