datagram.h

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/******************************************************************************
 *
 *  $Id: datagram.h 490 2006-08-02 12:25:25Z fp $
 *
 *  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.
 *
 *****************************************************************************/

/*****************************************************************************/

#ifndef _EC_DATAGRAM_H_
#define _EC_DATAGRAM_H_

#include <linux/list.h>
#include <linux/time.h>
#include <linux/timex.h>

#include "globals.h"

/*****************************************************************************/

typedef enum
{
    EC_CMD_NONE = 0x00, 
    EC_CMD_APRD = 0x01, 
    EC_CMD_APWR = 0x02, 
    EC_CMD_NPRD = 0x04, 
    EC_CMD_NPWR = 0x05, 
    EC_CMD_BRD  = 0x07, 
    EC_CMD_BWR  = 0x08, 
    EC_CMD_LRW  = 0x0C  
}
ec_datagram_type_t;

typedef enum
{
    EC_CMD_INIT, 
    EC_CMD_QUEUED, 
    EC_CMD_SENT, 
    EC_CMD_RECEIVED, 
    EC_CMD_TIMEOUT, 
    EC_CMD_ERROR 
}
ec_datagram_state_t;

/*****************************************************************************/

typedef union
{
    struct
    {
        uint16_t slave; 
        uint16_t mem; 
    }
    physical; 
    uint32_t logical; 
}
ec_address_t;

/*****************************************************************************/

typedef struct
{
    struct list_head list; 
    struct list_head queue; 
    ec_datagram_type_t type; 
    ec_address_t address; 
    uint8_t *data; 
    size_t mem_size; 
    size_t data_size; 
    uint8_t index; 
    uint16_t working_counter; 
    ec_datagram_state_t state; 
    cycles_t t_sent; 
}
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

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