149 lines
5.1 KiB
C
149 lines
5.1 KiB
C
/******************************************************************************
|
|
*
|
|
* $Id$
|
|
*
|
|
* 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; /**< recipient 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
|