git.oblomov.eu Git - linux-2.6/blob - 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
  12     Redistribution and use in source and binary forms, with or without
  13     modification, are permitted provided that the following conditions
  14     are met:
  15
  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
  25        from this software without prior written permission. For written
  26        permission, please contact info@systec-electronic.com.
  27
  28     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  29     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  30     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  31     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  32     COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  33     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  34     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  35     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  36     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  37     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  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(PUBLIC * tEplSequLayerReceiveCb) (tEplSdoConHdl ConHdl_p,
 120                                                      tEplAsySdoSeq *
 121                                                      pSdoSeqData_p,
 122                                                      unsigned int uiDataSize_p);
 123
 124 // handle between asynchronuus SDO Sequence Layer and SDO Command layer
 125 typedef unsigned int tEplSdoSeqConHdl;
 126
 127 // callback function pointer for asynchronuus SDO Sequence Layer to call
 128 // SDO Command layer for received data
 129 typedef tEplKernel(PUBLIC *
 130                    tEplSdoComReceiveCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 131                                          tEplAsySdoCom * pAsySdoCom_p,
 132                                          unsigned int uiDataSize_p);
 133
 134 // status of connection
 135 typedef enum {
 136         kAsySdoConStateConnected = 0x00,
 137         kAsySdoConStateInitError = 0x01,
 138         kAsySdoConStateConClosed = 0x02,
 139         kAsySdoConStateAckReceived = 0x03,
 140         kAsySdoConStateFrameSended = 0x04,
 141         kAsySdoConStateTimeout = 0x05
 142 } tEplAsySdoConState;
 143
 144 // callback function pointer for asynchronuus SDO Sequence Layer to call
 145 // SDO Command layer for connection status
 146 typedef tEplKernel(PUBLIC * tEplSdoComConCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 147                                               tEplAsySdoConState
 148                                               AsySdoConState_p);
 149
 150 // handle between  SDO Command layer and application
 151 typedef unsigned int tEplSdoComConHdl;
 152
 153 // status of connection
 154 typedef enum {
 155         kEplSdoComTransferNotActive = 0x00,
 156         kEplSdoComTransferRunning = 0x01,
 157         kEplSdoComTransferTxAborted = 0x02,
 158         kEplSdoComTransferRxAborted = 0x03,
 159         kEplSdoComTransferFinished = 0x04,
 160         kEplSdoComTransferLowerLayerAbort = 0x05
 161 } tEplSdoComConState;
 162
 163 // SDO Services and Command-Ids from DS 1.0.0 p.152
 164 typedef enum {
 165         kEplSdoServiceNIL = 0x00,
 166         kEplSdoServiceWriteByIndex = 0x01,
 167         kEplSdoServiceReadByIndex = 0x02
 168             //--------------------------------
 169             // the following services are optional and
 170             // not supported now
 171 /*
 172     kEplSdoServiceWriteAllByIndex   = 0x03,
 173     kEplSdoServiceReadAllByIndex    = 0x04,
 174     kEplSdoServiceWriteByName       = 0x05,
 175     kEplSdoServiceReadByName        = 0x06,
 176
 177     kEplSdoServiceFileWrite         = 0x20,
 178     kEplSdoServiceFileRead          = 0x21,
 179
 180     kEplSdoServiceWriteMultiByIndex = 0x31,
 181     kEplSdoServiceReadMultiByIndex  = 0x32,
 182
 183     kEplSdoServiceMaxSegSize        = 0x70
 184
 185     // 0x80 - 0xFF manufacturer specific
 186
 187  */
 188 } tEplSdoServiceType;
 189
 190 // describes if read or write access
 191 typedef enum {
 192         kEplSdoAccessTypeRead = 0x00,
 193         kEplSdoAccessTypeWrite = 0x01
 194 } tEplSdoAccessType;
 195
 196 typedef enum {
 197         kEplSdoTypeAuto = 0x00,
 198         kEplSdoTypeUdp = 0x01,
 199         kEplSdoTypeAsnd = 0x02,
 200         kEplSdoTypePdo = 0x03
 201 } tEplSdoType;
 202
 203 typedef enum {
 204         kEplSdoTransAuto = 0x00,
 205         kEplSdoTransExpedited = 0x01,
 206         kEplSdoTransSegmented = 0x02
 207 } tEplSdoTransType;
 208
 209 // structure to inform application about finish of SDO transfer
 210 typedef struct {
 211         tEplSdoComConHdl m_SdoComConHdl;
 212         tEplSdoComConState m_SdoComConState;
 213         DWORD m_dwAbortCode;
 214         tEplSdoAccessType m_SdoAccessType;
 215         unsigned int m_uiNodeId;        // NodeId of the target
 216         unsigned int m_uiTargetIndex;   // index which was accessed
 217         unsigned int m_uiTargetSubIndex;        // subindex which was accessed
 218         unsigned int m_uiTransferredByte;       // number of bytes transferred
 219         void *m_pUserArg;       // user definable argument pointer
 220
 221 } tEplSdoComFinished;
 222
 223 // callback function pointer to inform application about connection
 224 typedef tEplKernel(PUBLIC * tEplSdoFinishedCb) (tEplSdoComFinished *
 225                                                 pSdoComFinished_p);
 226
 227 // structure to init SDO transfer to Read or Write by Index
 228 typedef struct {
 229         tEplSdoComConHdl m_SdoComConHdl;
 230         unsigned int m_uiIndex;
 231         unsigned int m_uiSubindex;
 232         void *m_pData;
 233         unsigned int m_uiDataSize;
 234         unsigned int m_uiTimeout;       // not used in this version
 235         tEplSdoAccessType m_SdoAccessType;
 236         tEplSdoFinishedCb m_pfnSdoFinishedCb;
 237         void *m_pUserArg;       // user definable argument pointer
 238
 239 } tEplSdoComTransParamByIndex;
 240
 241 //---------------------------------------------------------------------------
 242 // function prototypes
 243 //---------------------------------------------------------------------------
 244
 245 #endif // #ifndef _EPLSDO_H_