kernel/2.6.29.6-aldebaran-rt/drivers/staging/epl/Epl.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 EPL API layer
   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: Epl.h,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.8 $  $Date: 2008/11/17 16:40:39 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/05/22 d.k.:   start of the implementation, version 1.00
  68
  69 ****************************************************************************/
  70
  71 #ifndef _EPL_API_H_
  72 #define _EPL_API_H_
  73
  74 #include "EplInc.h"
  75 #include "EplSdo.h"
  76 #include "EplObd.h"
  77 #include "EplLed.h"
  78 #include "EplEvent.h"
  79
  80 //---------------------------------------------------------------------------
  81 // const defines
  82 //---------------------------------------------------------------------------
  83
  84 //---------------------------------------------------------------------------
  85 // typedef
  86 //---------------------------------------------------------------------------
  87
  88 typedef struct {
  89         unsigned int m_uiNodeId;
  90         tEplNmtState m_NmtState;
  91         tEplNmtNodeEvent m_NodeEvent;
  92         WORD m_wErrorCode;      // EPL error code if m_NodeEvent == kEplNmtNodeEventError
  93         BOOL m_fMandatory;
  94
  95 } tEplApiEventNode;
  96
  97 typedef struct {
  98         tEplNmtState m_NmtState;        // local NMT state
  99         tEplNmtBootEvent m_BootEvent;
 100         WORD m_wErrorCode;      // EPL error code if m_BootEvent == kEplNmtBootEventError
 101
 102 } tEplApiEventBoot;
 103
 104 typedef struct {
 105         tEplLedType m_LedType;  // type of the LED (e.g. Status or Error)
 106         BOOL m_fOn;             // state of the LED (e.g. on or off)
 107
 108 } tEplApiEventLed;
 109
 110 typedef enum {
 111         kEplApiEventNmtStateChange = 0x10,      // m_NmtStateChange
 112 //    kEplApiEventRequestNmt     = 0x11,    // m_bNmtCmd
 113         kEplApiEventCriticalError = 0x12,       // m_InternalError, Stack halted
 114         kEplApiEventWarning = 0x13,     // m_InternalError, Stack running
 115         kEplApiEventNode = 0x20,        // m_Node
 116         kEplApiEventBoot = 0x21,        // m_Boot
 117         kEplApiEventSdo = 0x62, // m_Sdo
 118         kEplApiEventObdAccess = 0x69,   // m_ObdCbParam
 119         kEplApiEventLed = 0x70, // m_Led
 120
 121 } tEplApiEventType;
 122
 123 typedef union {
 124         tEplEventNmtStateChange m_NmtStateChange;
 125         tEplEventError m_InternalError;
 126         tEplSdoComFinished m_Sdo;
 127         tEplObdCbParam m_ObdCbParam;
 128         tEplApiEventNode m_Node;
 129         tEplApiEventBoot m_Boot;
 130         tEplApiEventLed m_Led;
 131
 132 } tEplApiEventArg;
 133
 134 typedef tEplKernel(PUBLIC ROM * tEplApiCbEvent) (tEplApiEventType EventType_p,  // IN: event type (enum)
 135                                                  tEplApiEventArg * pEventArg_p, // IN: event argument (union)
 136                                                  void GENERIC * pUserArg_p);
 137
 138 typedef struct {
 139         unsigned int m_uiSizeOfStruct;
 140         BOOL m_fAsyncOnly;      // do not need to register PRes
 141         unsigned int m_uiNodeId;        // local node ID
 142         BYTE m_abMacAddress[6]; // local MAC address
 143
 144         // 0x1F82: NMT_FeatureFlags_U32
 145         DWORD m_dwFeatureFlags;
 146         // Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
 147         DWORD m_dwCycleLen;     // required for error detection
 148         // 0x1F98: NMT_CycleTiming_REC
 149         // 0x1F98.1: IsochrTxMaxPayload_U16
 150         unsigned int m_uiIsochrTxMaxPayload;    // const
 151         // 0x1F98.2: IsochrRxMaxPayload_U16
 152         unsigned int m_uiIsochrRxMaxPayload;    // const
 153         // 0x1F98.3: PResMaxLatency_U32
 154         DWORD m_dwPresMaxLatency;       // const in [ns], only required for IdentRes
 155         // 0x1F98.4: PReqActPayloadLimit_U16
 156         unsigned int m_uiPreqActPayloadLimit;   // required for initialisation (+28 bytes)
 157         // 0x1F98.5: PResActPayloadLimit_U16
 158         unsigned int m_uiPresActPayloadLimit;   // required for initialisation of Pres frame (+28 bytes)
 159         // 0x1F98.6: ASndMaxLatency_U32
 160         DWORD m_dwAsndMaxLatency;       // const in [ns], only required for IdentRes
 161         // 0x1F98.7: MultiplCycleCnt_U8
 162         unsigned int m_uiMultiplCycleCnt;       // required for error detection
 163         // 0x1F98.8: AsyncMTU_U16
 164         unsigned int m_uiAsyncMtu;      // required to set up max frame size
 165         // 0x1F98.9: Prescaler_U16
 166         unsigned int m_uiPrescaler;     // required for sync
 167         // $$$ Multiplexed Slot
 168
 169         // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
 170         DWORD m_dwLossOfFrameTolerance;
 171
 172         // 0x1F8A: NMT_MNCycleTiming_REC
 173         // 0x1F8A.1: WaitSoCPReq_U32 in [ns]
 174         DWORD m_dwWaitSocPreq;
 175
 176         // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns]
 177         DWORD m_dwAsyncSlotTimeout;
 178
 179         DWORD m_dwDeviceType;   // NMT_DeviceType_U32
 180         DWORD m_dwVendorId;     // NMT_IdentityObject_REC.VendorId_U32
 181         DWORD m_dwProductCode;  // NMT_IdentityObject_REC.ProductCode_U32
 182         DWORD m_dwRevisionNumber;       // NMT_IdentityObject_REC.RevisionNo_U32
 183         DWORD m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
 184         QWORD m_qwVendorSpecificExt1;
 185         DWORD m_dwVerifyConfigurationDate;      // CFM_VerifyConfiguration_REC.ConfDate_U32
 186         DWORD m_dwVerifyConfigurationTime;      // CFM_VerifyConfiguration_REC.ConfTime_U32
 187         DWORD m_dwApplicationSwDate;    // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
 188         DWORD m_dwApplicationSwTime;    // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
 189         DWORD m_dwIpAddress;
 190         DWORD m_dwSubnetMask;
 191         DWORD m_dwDefaultGateway;
 192         BYTE m_sHostname[32];
 193         BYTE m_abVendorSpecificExt2[48];
 194
 195         char *m_pszDevName;     // NMT_ManufactDevName_VS (0x1008/0 local OD)
 196         char *m_pszHwVersion;   // NMT_ManufactHwVers_VS  (0x1009/0 local OD)
 197         char *m_pszSwVersion;   // NMT_ManufactSwVers_VS  (0x100A/0 local OD)
 198
 199         tEplApiCbEvent m_pfnCbEvent;
 200         void *m_pEventUserArg;
 201         tEplSyncCb m_pfnCbSync;
 202
 203 } tEplApiInitParam;
 204
 205 typedef struct {
 206         void *m_pImage;
 207         unsigned int m_uiSize;
 208
 209 } tEplApiProcessImage;
 210
 211 //---------------------------------------------------------------------------
 212 // function prototypes
 213 //---------------------------------------------------------------------------
 214
 215 tEplKernel PUBLIC EplApiInitialize(tEplApiInitParam * pInitParam_p);
 216
 217 tEplKernel PUBLIC EplApiShutdown(void);
 218
 219 tEplKernel PUBLIC EplApiReadObject(tEplSdoComConHdl * pSdoComConHdl_p,
 220                                    unsigned int uiNodeId_p,
 221                                    unsigned int uiIndex_p,
 222                                    unsigned int uiSubindex_p,
 223                                    void *pDstData_le_p,
 224                                    unsigned int *puiSize_p,
 225                                    tEplSdoType SdoType_p, void *pUserArg_p);
 226
 227 tEplKernel PUBLIC EplApiWriteObject(tEplSdoComConHdl * pSdoComConHdl_p,
 228                                     unsigned int uiNodeId_p,
 229                                     unsigned int uiIndex_p,
 230                                     unsigned int uiSubindex_p,
 231                                     void *pSrcData_le_p,
 232                                     unsigned int uiSize_p,
 233                                     tEplSdoType SdoType_p, void *pUserArg_p);
 234
 235 tEplKernel PUBLIC EplApiFreeSdoChannel(tEplSdoComConHdl SdoComConHdl_p);
 236
 237 tEplKernel PUBLIC EplApiReadLocalObject(unsigned int uiIndex_p,
 238                                         unsigned int uiSubindex_p,
 239                                         void *pDstData_p,
 240                                         unsigned int *puiSize_p);
 241
 242 tEplKernel PUBLIC EplApiWriteLocalObject(unsigned int uiIndex_p,
 243                                          unsigned int uiSubindex_p,
 244                                          void *pSrcData_p,
 245                                          unsigned int uiSize_p);
 246
 247 tEplKernel PUBLIC EplApiCbObdAccess(tEplObdCbParam MEM * pParam_p);
 248
 249 tEplKernel PUBLIC EplApiLinkObject(unsigned int uiObjIndex_p,
 250                                    void *pVar_p,
 251                                    unsigned int *puiVarEntries_p,
 252                                    tEplObdSize * pEntrySize_p,
 253                                    unsigned int uiFirstSubindex_p);
 254
 255 tEplKernel PUBLIC EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p);
 256
 257 tEplKernel PUBLIC EplApiProcess(void);
 258
 259 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 260 tEplKernel PUBLIC EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
 261                                              tEplNmtNodeCommand NodeCommand_p);
 262 #endif
 263
 264 tEplKernel PUBLIC EplApiGetIdentResponse(unsigned int uiNodeId_p,
 265                                          tEplIdentResponse **
 266                                          ppIdentResponse_p);
 267
 268 // functions for process image will be implemented in separate file
 269 tEplKernel PUBLIC EplApiProcessImageSetup(void);
 270 tEplKernel PUBLIC EplApiProcessImageExchangeIn(tEplApiProcessImage * pPI_p);
 271 tEplKernel PUBLIC EplApiProcessImageExchangeOut(tEplApiProcessImage * pPI_p);
 272
 273 #endif // #ifndef _EPL_API_H_