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