drivers/staging/epl/EplSdo.h - linux - Git at Google

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

   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
       www.systec-electronic.com

   Project:      openPOWERLINK

   Description:  include file for api function of the sdo module

   License:

     Redistribution and use in source and binary forms, with or without
     modification, are permitted provided that the following conditions
     are met:

     1. Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.

     2. Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.

     3. Neither the name of SYSTEC electronic GmbH nor the names of its
        contributors may be used to endorse or promote products derived
        from this software without prior written permission. For written
        permission, please contact info@systec-electronic.com.

     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
     COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     POSSIBILITY OF SUCH DAMAGE.

     Severability Clause:

         If a provision of this License is or becomes illegal, invalid or
         unenforceable in any jurisdiction, that shall not affect:
         1. the validity or enforceability in that jurisdiction of any other
            provision of this License; or
         2. the validity or enforceability in other jurisdictions of that or
            any other provision of this License.

   -------------------------------------------------------------------------

                 $RCSfile: EplSdo.h,v $

                 $Author: D.Krueger $

                 $Revision: 1.6 $  $Date: 2008/04/17 21:36:32 $

                 $State: Exp $

                 Build Environment:
                     GCC V3.4

   -------------------------------------------------------------------------

   Revision History:

  2006/06/26 k.t.:   start of the implementation

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

 #include "EplInc.h"
 #include "EplFrame.h"
 #include "EplSdoAc.h"

 #ifndef _EPLSDO_H_
 #define _EPLSDO_H_

 //---------------------------------------------------------------------------
 // const defines
 //---------------------------------------------------------------------------
 // global defines
 #ifndef EPL_SDO_MAX_PAYLOAD
 #define EPL_SDO_MAX_PAYLOAD     256
 #endif

 // handle between Protocol Abstraction Layer and asynchronous SDO Sequence Layer
 #define EPL_SDO_UDP_HANDLE      0x8000
 #define EPL_SDO_ASND_HANDLE     0x4000
 #define EPL_SDO_ASY_HANDLE_MASK 0xC000
 #define EPL_SDO_ASY_INVALID_HDL 0x3FFF

 // handle between  SDO Sequence Layer and sdo command layer
 #define EPL_SDO_ASY_HANDLE      0x8000
 #define EPL_SDO_PDO_HANDLE      0x4000
 #define EPL_SDO_SEQ_HANDLE_MASK 0xC000
 #define EPL_SDO_SEQ_INVALID_HDL 0x3FFF

 #define EPL_ASND_HEADER_SIZE        4
 //#define EPL_SEQ_HEADER_SIZE         4
 #define EPL_ETHERNET_HEADER_SIZE    14

 #define EPL_SEQ_NUM_MASK            0xFC

 // size for send buffer and history
 #define EPL_MAX_SDO_FRAME_SIZE      EPL_C_IP_MIN_MTU
 // size for receive frame
 // -> needed because SND-Kit sends up to 1518 Byte
 //    without Sdo-Command: Maximum Segment Size
 #define EPL_MAX_SDO_REC_FRAME_SIZE  EPL_C_IP_MAX_MTU

 //---------------------------------------------------------------------------
 // typedef
 //---------------------------------------------------------------------------
 // handle between Protocol Abstraction Layer and asynchronuus SDO Sequence Layer
 typedef unsigned int tEplSdoConHdl;

 // callback function pointer for Protocol Abstraction Layer to call
 // asynchronuus SDO Sequence Layer
 typedef tEplKernel(*tEplSequLayerReceiveCb) (tEplSdoConHdl ConHdl_p,
 					     tEplAsySdoSeq *pSdoSeqData_p,
 					     unsigned int uiDataSize_p);

 // handle between asynchronuus SDO Sequence Layer and SDO Command layer
 typedef unsigned int tEplSdoSeqConHdl;

 // callback function pointer for asynchronuus SDO Sequence Layer to call
 // SDO Command layer for received data
 typedef tEplKernel(* tEplSdoComReceiveCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 					   tEplAsySdoCom *pAsySdoCom_p,
 					   unsigned int uiDataSize_p);

 // status of connection
 typedef enum {
 	kAsySdoConStateConnected = 0x00,
 	kAsySdoConStateInitError = 0x01,
 	kAsySdoConStateConClosed = 0x02,
 	kAsySdoConStateAckReceived = 0x03,
 	kAsySdoConStateFrameSended = 0x04,
 	kAsySdoConStateTimeout = 0x05
 } tEplAsySdoConState;

 // callback function pointer for asynchronuus SDO Sequence Layer to call
 // SDO Command layer for connection status
 typedef tEplKernel(* tEplSdoComConCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
 				       tEplAsySdoConState AsySdoConState_p);

 // handle between  SDO Command layer and application
 typedef unsigned int tEplSdoComConHdl;

 // status of connection
 typedef enum {
 	kEplSdoComTransferNotActive = 0x00,
 	kEplSdoComTransferRunning = 0x01,
 	kEplSdoComTransferTxAborted = 0x02,
 	kEplSdoComTransferRxAborted = 0x03,
 	kEplSdoComTransferFinished = 0x04,
 	kEplSdoComTransferLowerLayerAbort = 0x05
 } tEplSdoComConState;

 // SDO Services and Command-Ids from DS 1.0.0 p.152
 typedef enum {
 	kEplSdoServiceNIL = 0x00,
 	kEplSdoServiceWriteByIndex = 0x01,
 	kEplSdoServiceReadByIndex = 0x02
 	    //--------------------------------
 	    // the following services are optional and
 	    // not supported now
 /*
     kEplSdoServiceWriteAllByIndex   = 0x03,
     kEplSdoServiceReadAllByIndex    = 0x04,
     kEplSdoServiceWriteByName       = 0x05,
     kEplSdoServiceReadByName        = 0x06,

     kEplSdoServiceFileWrite         = 0x20,
     kEplSdoServiceFileRead          = 0x21,

     kEplSdoServiceWriteMultiByIndex = 0x31,
     kEplSdoServiceReadMultiByIndex  = 0x32,

     kEplSdoServiceMaxSegSize        = 0x70

     // 0x80 - 0xFF manufacturer specific

  */
 } tEplSdoServiceType;

 // describes if read or write access
 typedef enum {
 	kEplSdoAccessTypeRead = 0x00,
 	kEplSdoAccessTypeWrite = 0x01
 } tEplSdoAccessType;

 typedef enum {
 	kEplSdoTypeAuto = 0x00,
 	kEplSdoTypeUdp = 0x01,
 	kEplSdoTypeAsnd = 0x02,
 	kEplSdoTypePdo = 0x03
 } tEplSdoType;

 typedef enum {
 	kEplSdoTransAuto = 0x00,
 	kEplSdoTransExpedited = 0x01,
 	kEplSdoTransSegmented = 0x02
 } tEplSdoTransType;

 // structure to inform application about finish of SDO transfer
 typedef struct {
 	tEplSdoComConHdl m_SdoComConHdl;
 	tEplSdoComConState m_SdoComConState;
 	u32 m_dwAbortCode;
 	tEplSdoAccessType m_SdoAccessType;
 	unsigned int m_uiNodeId;	// NodeId of the target
 	unsigned int m_uiTargetIndex;	// index which was accessed
 	unsigned int m_uiTargetSubIndex;	// subindex which was accessed
 	unsigned int m_uiTransferredByte;	// number of bytes transferred
 	void *m_pUserArg;	// user definable argument pointer

 } tEplSdoComFinished;

 // callback function pointer to inform application about connection
 typedef tEplKernel(* tEplSdoFinishedCb) (tEplSdoComFinished *pSdoComFinished_p);

 // structure to init SDO transfer to Read or Write by Index
 typedef struct {
 	tEplSdoComConHdl m_SdoComConHdl;
 	unsigned int m_uiIndex;
 	unsigned int m_uiSubindex;
 	void *m_pData;
 	unsigned int m_uiDataSize;
 	unsigned int m_uiTimeout;	// not used in this version
 	tEplSdoAccessType m_SdoAccessType;
 	tEplSdoFinishedCb m_pfnSdoFinishedCb;
 	void *m_pUserArg;	// user definable argument pointer

 } tEplSdoComTransParamByIndex;

 //---------------------------------------------------------------------------
 // function prototypes
 //---------------------------------------------------------------------------

 #endif // #ifndef _EPLSDO_H_
	/****************************************************************************

	(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
	www.systec-electronic.com

	Project: openPOWERLINK

	Description: include file for api function of the sdo module

	License:

	Redistribution and use in source and binary forms, with or without
	modification, are permitted provided that the following conditions
	are met:

	1. Redistributions of source code must retain the above copyright
	notice, this list of conditions and the following disclaimer.

	2. Redistributions in binary form must reproduce the above copyright
	notice, this list of conditions and the following disclaimer in the
	documentation and/or other materials provided with the distribution.

	3. Neither the name of SYSTEC electronic GmbH nor the names of its
	contributors may be used to endorse or promote products derived
	from this software without prior written permission. For written
	permission, please contact info@systec-electronic.com.

	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
	LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
	FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
	COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
	INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
	BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
	LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
	ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	POSSIBILITY OF SUCH DAMAGE.

	Severability Clause:

	If a provision of this License is or becomes illegal, invalid or
	unenforceable in any jurisdiction, that shall not affect:
	1. the validity or enforceability in that jurisdiction of any other
	provision of this License; or
	2. the validity or enforceability in other jurisdictions of that or
	any other provision of this License.

	-------------------------------------------------------------------------

	$RCSfile: EplSdo.h,v $

	$Author: D.Krueger $

	$Revision: 1.6 $ $Date: 2008/04/17 21:36:32 $

	$State: Exp $

	Build Environment:
	GCC V3.4

	-------------------------------------------------------------------------

	Revision History:

	2006/06/26 k.t.: start of the implementation

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

	#include "EplInc.h"
	#include "EplFrame.h"
	#include "EplSdoAc.h"

	#ifndef _EPLSDO_H_
	#define _EPLSDO_H_

	//---------------------------------------------------------------------------
	// const defines
	//---------------------------------------------------------------------------
	// global defines
	#ifndef EPL_SDO_MAX_PAYLOAD
	#define EPL_SDO_MAX_PAYLOAD 256
	#endif

	// handle between Protocol Abstraction Layer and asynchronous SDO Sequence Layer
	#define EPL_SDO_UDP_HANDLE 0x8000
	#define EPL_SDO_ASND_HANDLE 0x4000
	#define EPL_SDO_ASY_HANDLE_MASK 0xC000
	#define EPL_SDO_ASY_INVALID_HDL 0x3FFF

	// handle between SDO Sequence Layer and sdo command layer
	#define EPL_SDO_ASY_HANDLE 0x8000
	#define EPL_SDO_PDO_HANDLE 0x4000
	#define EPL_SDO_SEQ_HANDLE_MASK 0xC000
	#define EPL_SDO_SEQ_INVALID_HDL 0x3FFF

	#define EPL_ASND_HEADER_SIZE 4
	//#define EPL_SEQ_HEADER_SIZE 4
	#define EPL_ETHERNET_HEADER_SIZE 14

	#define EPL_SEQ_NUM_MASK 0xFC

	// size for send buffer and history
	#define EPL_MAX_SDO_FRAME_SIZE EPL_C_IP_MIN_MTU
	// size for receive frame
	// -> needed because SND-Kit sends up to 1518 Byte
	// without Sdo-Command: Maximum Segment Size
	#define EPL_MAX_SDO_REC_FRAME_SIZE EPL_C_IP_MAX_MTU

	//---------------------------------------------------------------------------
	// typedef
	//---------------------------------------------------------------------------
	// handle between Protocol Abstraction Layer and asynchronuus SDO Sequence Layer
	typedef unsigned int tEplSdoConHdl;

	// callback function pointer for Protocol Abstraction Layer to call
	// asynchronuus SDO Sequence Layer
	typedef tEplKernel(*tEplSequLayerReceiveCb) (tEplSdoConHdl ConHdl_p,
	tEplAsySdoSeq *pSdoSeqData_p,
	unsigned int uiDataSize_p);

	// handle between asynchronuus SDO Sequence Layer and SDO Command layer
	typedef unsigned int tEplSdoSeqConHdl;

	// callback function pointer for asynchronuus SDO Sequence Layer to call
	// SDO Command layer for received data
	typedef tEplKernel(* tEplSdoComReceiveCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
	tEplAsySdoCom *pAsySdoCom_p,
	unsigned int uiDataSize_p);

	// status of connection
	typedef enum {
	kAsySdoConStateConnected = 0x00,
	kAsySdoConStateInitError = 0x01,
	kAsySdoConStateConClosed = 0x02,
	kAsySdoConStateAckReceived = 0x03,
	kAsySdoConStateFrameSended = 0x04,
	kAsySdoConStateTimeout = 0x05
	} tEplAsySdoConState;

	// callback function pointer for asynchronuus SDO Sequence Layer to call
	// SDO Command layer for connection status
	typedef tEplKernel(* tEplSdoComConCb) (tEplSdoSeqConHdl SdoSeqConHdl_p,
	tEplAsySdoConState AsySdoConState_p);

	// handle between SDO Command layer and application
	typedef unsigned int tEplSdoComConHdl;

	// status of connection
	typedef enum {
	kEplSdoComTransferNotActive = 0x00,
	kEplSdoComTransferRunning = 0x01,
	kEplSdoComTransferTxAborted = 0x02,
	kEplSdoComTransferRxAborted = 0x03,
	kEplSdoComTransferFinished = 0x04,
	kEplSdoComTransferLowerLayerAbort = 0x05
	} tEplSdoComConState;

	// SDO Services and Command-Ids from DS 1.0.0 p.152
	typedef enum {
	kEplSdoServiceNIL = 0x00,
	kEplSdoServiceWriteByIndex = 0x01,
	kEplSdoServiceReadByIndex = 0x02
	//--------------------------------
	// the following services are optional and
	// not supported now
	/*
	kEplSdoServiceWriteAllByIndex = 0x03,
	kEplSdoServiceReadAllByIndex = 0x04,
	kEplSdoServiceWriteByName = 0x05,
	kEplSdoServiceReadByName = 0x06,

	kEplSdoServiceFileWrite = 0x20,
	kEplSdoServiceFileRead = 0x21,

	kEplSdoServiceWriteMultiByIndex = 0x31,
	kEplSdoServiceReadMultiByIndex = 0x32,

	kEplSdoServiceMaxSegSize = 0x70

	// 0x80 - 0xFF manufacturer specific

	*/
	} tEplSdoServiceType;

	// describes if read or write access
	typedef enum {
	kEplSdoAccessTypeRead = 0x00,
	kEplSdoAccessTypeWrite = 0x01
	} tEplSdoAccessType;

	typedef enum {
	kEplSdoTypeAuto = 0x00,
	kEplSdoTypeUdp = 0x01,
	kEplSdoTypeAsnd = 0x02,
	kEplSdoTypePdo = 0x03
	} tEplSdoType;

	typedef enum {
	kEplSdoTransAuto = 0x00,
	kEplSdoTransExpedited = 0x01,
	kEplSdoTransSegmented = 0x02
	} tEplSdoTransType;

	// structure to inform application about finish of SDO transfer
	typedef struct {
	tEplSdoComConHdl m_SdoComConHdl;
	tEplSdoComConState m_SdoComConState;
	u32 m_dwAbortCode;
	tEplSdoAccessType m_SdoAccessType;
	unsigned int m_uiNodeId; // NodeId of the target
	unsigned int m_uiTargetIndex; // index which was accessed
	unsigned int m_uiTargetSubIndex; // subindex which was accessed
	unsigned int m_uiTransferredByte; // number of bytes transferred
	void *m_pUserArg; // user definable argument pointer

	} tEplSdoComFinished;

	// callback function pointer to inform application about connection
	typedef tEplKernel(* tEplSdoFinishedCb) (tEplSdoComFinished *pSdoComFinished_p);

	// structure to init SDO transfer to Read or Write by Index
	typedef struct {
	tEplSdoComConHdl m_SdoComConHdl;
	unsigned int m_uiIndex;
	unsigned int m_uiSubindex;
	void *m_pData;
	unsigned int m_uiDataSize;
	unsigned int m_uiTimeout; // not used in this version
	tEplSdoAccessType m_SdoAccessType;
	tEplSdoFinishedCb m_pfnSdoFinishedCb;
	void *m_pUserArg; // user definable argument pointer

	} tEplSdoComTransParamByIndex;

	//---------------------------------------------------------------------------
	// function prototypes
	//---------------------------------------------------------------------------

	#endif // #ifndef _EPLSDO_H_