datagram.h

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/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_DATAGRAM_H
#define LIBETHERCAT_DATAGRAM_H
 
#include <libosal/types.h>
#include <libosal/mutex.h>
 
#include "libethercat/common.h"
#include "libethercat/pool.h"
#include "libethercat/idx.h"
 
#define EC_WKC_SIZE             (2u)        
 
typedef struct __attribute__((__packed__)) ec_frame {
    osal_uint8_t mac_dest[6];        
    osal_uint8_t mac_src[6];         
    osal_uint16_t ethertype;         
    
    osal_uint16_t len        : 11;   
    osal_uint16_t reserved   : 1;    
    osal_uint16_t type       : 4;    
} ec_frame_t;                        
 
#define ec_frame_hdr_length     (sizeof(ec_frame_t))                            
#define ec_frame_length(f)      ((f)->len)                                      
#define ec_frame_end(pframe)    (&((osal_uint8_t *)(pframe))[(pframe)->len])    
 
typedef struct __attribute__((__packed__)) ec_datagram {
    osal_uint8_t cmd;                
    osal_uint8_t idx;                
    osal_uint32_t adr;               
                                     //   \brief auto inc address + phys mem
                                     //   \brief configured address + phys mem
    osal_uint16_t len        : 11;   
    osal_uint16_t reserved   : 4;    
    osal_uint16_t next       : 1;    
    osal_uint16_t irq;               
} ec_datagram_t;                     
 
#define ec_datagram_hdr_length  (sizeof(ec_datagram_t))                             
#define ec_datagram_length(pdg) (ec_datagram_hdr_length + (pdg)->len + EC_WKC_SIZE) 
 
typedef struct ec_cyclic_datagram {
    osal_mutex_t lock;                      
    pool_entry_t *p_entry;                  
    idx_entry_t *p_idx;                     
 
    osal_uint64_t recv_timeout_ns;          
    osal_timer_t timeout;                   
 
    void (*user_cb)(void *arg, int num);    
    void *user_cb_arg;                      
} ec_cyclic_datagram_t;                     
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
int ec_cyclic_datagram_init(ec_cyclic_datagram_t *cdg, osal_uint64_t recv_timeout);
 
 
int ec_cyclic_datagram_destroy(ec_cyclic_datagram_t *cdg);
 
 
int ec_frame_init(ec_frame_t *frame);
 
 
void ec_frame_add_datagram_phys(ec_frame_t *frame, osal_uint8_t cmd, osal_uint8_t idx, 
        osal_uint16_t adp, osal_uint16_t ado, osal_uint8_t *payload, osal_size_t payload_len);
 
 
void ec_frame_add_datagram_log(ec_frame_t *frame, osal_uint8_t cmd, osal_uint8_t idx, 
        osal_uint32_t adr, osal_uint8_t *payload, osal_size_t payload_len);
 
 
static inline ec_datagram_t *ec_datagram_cast(osal_uint8_t *p) {
    // cppcheck-suppress misra-c2012-11.3
    return ((ec_datagram_t *)(&((osal_uint8_t *)(p))[0]));
}
 
 
static inline void ec_datagram_mark_next(ec_datagram_t *pdg) {
    // cppcheck-suppress misra-c2012-11.3
    ((ec_datagram_t *)(pdg))->next = 1;
}
 
 
static inline ec_datagram_t *ec_datagram_first(ec_frame_t *pf) {
    // cppcheck-suppress misra-c2012-11.3
    return (ec_datagram_t *)(&(((osal_uint8_t *)(pf))[sizeof(ec_frame_t)]));
}
 
 
static inline ec_datagram_t *ec_datagram_next(ec_datagram_t *pdg) {
    // cppcheck-suppress misra-c2012-11.3
    return (ec_datagram_t *)(&(((osal_uint8_t *)(pdg))[ec_datagram_length((pdg))]));
}
 
 
static inline osal_uint8_t *ec_datagram_payload(ec_datagram_t *pdg) {
    // cppcheck-suppress misra-c2012-11.3
    return (&(((osal_uint8_t *)(pdg))[sizeof(ec_datagram_t)]));
}
 
 
static inline osal_uint16_t ec_datagram_wkc(ec_datagram_t *pdg) {
    // cppcheck-suppress misra-c2012-11.3
    return (*(osal_uint16_t *)(&(((osal_uint8_t *)pdg)[ec_datagram_length(pdg) - 2u])));
}
 
#ifdef __cplusplus
}
#endif
 
#endif /* LIBETHERCAT_DATAGRAM_H */