drivers/staging/epl/EplSdo.h

   1 /****************************************************************************
   2
   3   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  include file for api function of the sdo module
   9
  10   License:
  11
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  16     1. Redistributions of source code must retain the above copyright
  17        notice, this list of conditions and the following disclaimer.
  18
  19     2. Redistributions in binary form must reproduce the above copyright
  20        notice, this list of conditions and the following disclaimer in the
  21        documentation and/or other materials provided with the distribution.
  22
  23     3. Neither the name of SYSTEC electronic GmbH nor the names of its
  24        contributors may be used to endorse or promote products derived
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  30     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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  38     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  39     POSSIBILITY OF SUCH DAMAGE.
  40
  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplSdo.h,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.6 $  $Date: 2008/04/17 21:36:32 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67  2006/06/26 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "EplInc.h"
  72 #include "EplFrame.h"
  73 #include "EplSdoAc.h"
  74
  75 #ifndef _EPLSDO_H_
  76 #define _EPLSDO_H_
  77
  78 //---------------------------------------------------------------------------
  79 // const defines
  80 //---------------------------------------------------------------------------
  81 // global defines
  82 #ifndef EPL_SDO_MAX_PAYLOAD
  83 #define EPL_SDO_MAX_PAYLOAD     256
  84 #endif
  85
  86 // handle between Protocol Abstraction Layer and asynchronous SDO Sequence Layer
  87 #define EPL_SDO_UDP_HANDLE      0x8000
  88 #define EPL_SDO_ASND_HANDLE     0x4000
  89 #define EPL_SDO_ASY_HANDLE_MASK 0xC000
  90 #define EPL_SDO_ASY_INVALID_HDL 0x3FFF
  91
  92 // handle between  SDO Sequence Layer and sdo command layer
  93 #define EPL_SDO_ASY_HANDLE      0x8000
  94 #define EPL_SDO_PDO_HANDLE      0x4000
  95 #define EPL_SDO_SEQ_HANDLE_MASK 0xC000
  96 #define EPL_SDO_SEQ_INVALID_HDL 0x3FFF
  97
  98 #define EPL_ASND_HEADER_SIZE        4
  99 //#define EPL_SEQ_HEADER_SIZE         4
 100 #define EPL_ETHERNET_HEADER_SIZE    14
 101
 102 #define EPL_SEQ_NUM_MASK            0xFC
 103
 104 // size for send buffer and history
 105 #define EPL_MAX_SDO_FRAME_SIZE      EPL_C_IP_MIN_MTU
 106 // size for receive frame
 107 // -> needed because SND-Kit sends up to 1518 Byte
 108 //    without Sdo-Command: Maximum Segment Size
 109 #define EPL_MAX_SDO_REC_FRAME_SIZE  EPL_C_IP_MAX_MTU
 110
 111 //---------------------------------------------------------------------------
 112 // typedef
 113 //---------------------------------------------------------------------------
 114 // handle between Protocol Abstraction Layer and asynchronuus SDO Sequence Layer
 115 typedef unsigned int tEplSdoConHdl;
 116
 117 // callback function pointer for Protocol Abstraction Layer to call
 118 // asynchronuus SDO Sequence Layer
 119 typedef tEplKernel(*tEplSequLayerReceiveCb) (tEplSdoConHdl ConHdl_p,
 120                                              tEplAsySdoSeq *pSdoSeqData_p,
 121                                              unsigned int uiDataSize_p);
 122
 123 // handle between asynchronuus SDO Sequence Layer and SDO Command layer
 124 typedef unsigned int tEplSdoSeqConHdl;
 125
 126 // callback function pointer for asynchronuus SDO Sequence Layer to call
 127 // SDO Command layer for received data
 128 typedef tEplKernel(* tEplSdoComReceiveCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 129                                            tEplAsySdoCom *pAsySdoCom_p,
 130                                            unsigned int uiDataSize_p);
 131
 132 // status of connection
 133 typedef enum {
 134         kAsySdoConStateConnected = 0x00,
 135         kAsySdoConStateInitError = 0x01,
 136         kAsySdoConStateConClosed = 0x02,
 137         kAsySdoConStateAckReceived = 0x03,
 138         kAsySdoConStateFrameSended = 0x04,
 139         kAsySdoConStateTimeout = 0x05
 140 } tEplAsySdoConState;
 141
 142 // callback function pointer for asynchronuus SDO Sequence Layer to call
 143 // SDO Command layer for connection status
 144 typedef tEplKernel(* tEplSdoComConCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 145                                        tEplAsySdoConState AsySdoConState_p);
 146
 147 // handle between  SDO Command layer and application
 148 typedef unsigned int tEplSdoComConHdl;
 149
 150 // status of connection
 151 typedef enum {
 152         kEplSdoComTransferNotActive = 0x00,
 153         kEplSdoComTransferRunning = 0x01,
 154         kEplSdoComTransferTxAborted = 0x02,
 155         kEplSdoComTransferRxAborted = 0x03,
 156         kEplSdoComTransferFinished = 0x04,
 157         kEplSdoComTransferLowerLayerAbort = 0x05
 158 } tEplSdoComConState;
 159
 160 // SDO Services and Command-Ids from DS 1.0.0 p.152
 161 typedef enum {
 162         kEplSdoServiceNIL = 0x00,
 163         kEplSdoServiceWriteByIndex = 0x01,
 164         kEplSdoServiceReadByIndex = 0x02
 165             //--------------------------------
 166             // the following services are optional and
 167             // not supported now
 168 /*
 169     kEplSdoServiceWriteAllByIndex   = 0x03,
 170     kEplSdoServiceReadAllByIndex    = 0x04,
 171     kEplSdoServiceWriteByName       = 0x05,
 172     kEplSdoServiceReadByName        = 0x06,
 173
 174     kEplSdoServiceFileWrite         = 0x20,
 175     kEplSdoServiceFileRead          = 0x21,
 176
 177     kEplSdoServiceWriteMultiByIndex = 0x31,
 178     kEplSdoServiceReadMultiByIndex  = 0x32,
 179
 180     kEplSdoServiceMaxSegSize        = 0x70
 181
 182     // 0x80 - 0xFF manufacturer specific
 183
 184  */
 185 } tEplSdoServiceType;
 186
 187 // describes if read or write access
 188 typedef enum {
 189         kEplSdoAccessTypeRead = 0x00,
 190         kEplSdoAccessTypeWrite = 0x01
 191 } tEplSdoAccessType;
 192
 193 typedef enum {
 194         kEplSdoTypeAuto = 0x00,
 195         kEplSdoTypeUdp = 0x01,
 196         kEplSdoTypeAsnd = 0x02,
 197         kEplSdoTypePdo = 0x03
 198 } tEplSdoType;
 199
 200 typedef enum {
 201         kEplSdoTransAuto = 0x00,
 202         kEplSdoTransExpedited = 0x01,
 203         kEplSdoTransSegmented = 0x02
 204 } tEplSdoTransType;
 205
 206 // structure to inform application about finish of SDO transfer
 207 typedef struct {
 208         tEplSdoComConHdl m_SdoComConHdl;
 209         tEplSdoComConState m_SdoComConState;
 210         u32 m_dwAbortCode;
 211         tEplSdoAccessType m_SdoAccessType;
 212         unsigned int m_uiNodeId;        // NodeId of the target
 213         unsigned int m_uiTargetIndex;   // index which was accessed
 214         unsigned int m_uiTargetSubIndex;        // subindex which was accessed
 215         unsigned int m_uiTransferredByte;       // number of bytes transferred
 216         void *m_pUserArg;       // user definable argument pointer
 217
 218 } tEplSdoComFinished;
 219
 220 // callback function pointer to inform application about connection
 221 typedef tEplKernel(* tEplSdoFinishedCb) (tEplSdoComFinished *pSdoComFinished_p);
 222
 223 // structure to init SDO transfer to Read or Write by Index
 224 typedef struct {
 225         tEplSdoComConHdl m_SdoComConHdl;
 226         unsigned int m_uiIndex;
 227         unsigned int m_uiSubindex;
 228         void *m_pData;
 229         unsigned int m_uiDataSize;
 230         unsigned int m_uiTimeout;       // not used in this version
 231         tEplSdoAccessType m_SdoAccessType;
 232         tEplSdoFinishedCb m_pfnSdoFinishedCb;
 233         void *m_pUserArg;       // user definable argument pointer
 234
 235 } tEplSdoComTransParamByIndex;
 236
 237 //---------------------------------------------------------------------------
 238 // function prototypes
 239 //---------------------------------------------------------------------------
 240
 241 #endif // #ifndef _EPLSDO_H_