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
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  16     1. Redistributions of source code must retain the above copyright
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  19     2. Redistributions in binary form must reproduce the above copyright
  20        notice, this list of conditions and the following disclaimer in the
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  23     3. Neither the name of SYSTEC electronic GmbH nor the names of its
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  28     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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  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         DWORD 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_