datagram.h

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/******************************************************************************
 *
 *  $Id$
 *
 *  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
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/

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

#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_DATAGRAM_NONE = 0x00, 
    EC_DATAGRAM_APRD = 0x01, 
    EC_DATAGRAM_APWR = 0x02, 
    EC_DATAGRAM_APRW = 0x03, 
    EC_DATAGRAM_FPRD = 0x04, 
    EC_DATAGRAM_FPWR = 0x05, 
    EC_DATAGRAM_FPRW = 0x06, 
    EC_DATAGRAM_BRD  = 0x07, 
    EC_DATAGRAM_BWR  = 0x08, 
    EC_DATAGRAM_BRW  = 0x09, 
    EC_DATAGRAM_LRD  = 0x0A, 
    EC_DATAGRAM_LWR  = 0x0B, 
    EC_DATAGRAM_LRW  = 0x0C, 
    EC_DATAGRAM_ARMW = 0x0D, 
    EC_DATAGRAM_FRMW = 0x0E, 
} ec_datagram_type_t;

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

typedef enum {
    EC_DATAGRAM_INIT,      
    EC_DATAGRAM_QUEUED,    
    EC_DATAGRAM_SENT,      
    EC_DATAGRAM_RECEIVED,  
    EC_DATAGRAM_TIMED_OUT, 
    EC_DATAGRAM_ERROR      
} ec_datagram_state_t;

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

typedef struct {
    struct list_head queue; 
    struct list_head sent; 
    ec_device_index_t device_index; 
    ec_datagram_type_t type; 
    uint8_t address[EC_ADDR_LEN]; 
    uint8_t *data; 
    ec_origin_t data_origin; 
    size_t mem_size; 
    size_t data_size; 
    uint8_t index; 
    uint16_t working_counter; 
    ec_datagram_state_t state; 
#ifdef EC_HAVE_CYCLES
    cycles_t cycles_sent; 
#endif
    unsigned long jiffies_sent; 
#ifdef EC_HAVE_CYCLES
    cycles_t cycles_received; 
#endif
    unsigned long jiffies_received; 
    unsigned int skip_count; 
    unsigned long stats_output_jiffies; 
    char name[EC_DATAGRAM_NAME_SIZE]; 
} ec_datagram_t;

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

void ec_datagram_init(ec_datagram_t *);
void ec_datagram_clear(ec_datagram_t *);
void ec_datagram_unqueue(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);
int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t);
int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
int ec_datagram_lrd_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
int ec_datagram_lwr_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
int ec_datagram_lrw_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);

void ec_datagram_print_state(const ec_datagram_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