IgH EtherCAT Master: datagram.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_DATAGRAM_H__
00038 #define __EC_DATAGRAM_H__
00039 
00040 #include <linux/list.h>
00041 #include <linux/time.h>
00042 #include <linux/timex.h>
00043 
00044 #include "globals.h"
00045 
00046 /*****************************************************************************/
00047 
00050 typedef enum {
00051     EC_DATAGRAM_NONE = 0x00, 
00052     EC_DATAGRAM_APRD = 0x01, 
00053     EC_DATAGRAM_APWR = 0x02, 
00054     EC_DATAGRAM_APRW = 0x03, 
00055     EC_DATAGRAM_FPRD = 0x04, 
00056     EC_DATAGRAM_FPWR = 0x05, 
00057     EC_DATAGRAM_FPRW = 0x06, 
00058     EC_DATAGRAM_BRD  = 0x07, 
00059     EC_DATAGRAM_BWR  = 0x08, 
00060     EC_DATAGRAM_BRW  = 0x09, 
00061     EC_DATAGRAM_LRD  = 0x0A, 
00062     EC_DATAGRAM_LWR  = 0x0B, 
00063     EC_DATAGRAM_LRW  = 0x0C, 
00064     EC_DATAGRAM_ARMW = 0x0D, 
00066     EC_DATAGRAM_FRMW = 0x0E, 
00068 } ec_datagram_type_t;
00069 
00070 /*****************************************************************************/
00071 
00074 typedef enum {
00075     EC_DATAGRAM_INIT,      
00076     EC_DATAGRAM_QUEUED,    
00077     EC_DATAGRAM_SENT,      
00078     EC_DATAGRAM_RECEIVED,  
00079     EC_DATAGRAM_TIMED_OUT, 
00080     EC_DATAGRAM_ERROR      
00081 } ec_datagram_state_t;
00082 
00083 /*****************************************************************************/
00084 
00087 typedef struct {
00088     struct list_head queue; 
00089     struct list_head sent; 
00090     ec_device_index_t device_index; 
00092     ec_datagram_type_t type; 
00093     uint8_t address[EC_ADDR_LEN]; 
00094     uint8_t *data; 
00095     ec_origin_t data_origin; 
00096     size_t mem_size; 
00097     size_t data_size; 
00098     uint8_t index; 
00099     uint16_t working_counter; 
00100     ec_datagram_state_t state; 
00101 #ifdef EC_HAVE_CYCLES
00102     cycles_t cycles_sent; 
00103 #endif
00104     unsigned long jiffies_sent; 
00105 #ifdef EC_HAVE_CYCLES
00106     cycles_t cycles_received; 
00107 #endif
00108     unsigned long jiffies_received; 
00110     unsigned int skip_count; 
00111     unsigned long stats_output_jiffies; 
00112     char name[EC_DATAGRAM_NAME_SIZE]; 
00113 } ec_datagram_t;
00114 
00115 /*****************************************************************************/
00116 
00117 void ec_datagram_init(ec_datagram_t *);
00118 void ec_datagram_clear(ec_datagram_t *);
00119 void ec_datagram_unqueue(ec_datagram_t *);
00120 int ec_datagram_prealloc(ec_datagram_t *, size_t);
00121 void ec_datagram_zero(ec_datagram_t *);
00122 
00123 int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
00124 int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
00125 int ec_datagram_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
00126 int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t);
00127 int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
00128 int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
00129 int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
00130 int ec_datagram_frmw(ec_datagram_t *, uint16_t, uint16_t, size_t);
00131 int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
00132 int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
00133 int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t);
00134 int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t);
00135 int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t);
00136 int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
00137 int ec_datagram_lrd_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
00138 int ec_datagram_lwr_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
00139 int ec_datagram_lrw_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
00140 
00141 void ec_datagram_print_state(const ec_datagram_t *);
00142 void ec_datagram_print_wc_error(const ec_datagram_t *);
00143 void ec_datagram_output_stats(ec_datagram_t *);
00144 const char *ec_datagram_type_string(const ec_datagram_t *);
00145 
00146 /*****************************************************************************/
00147 
00148 #endif