[OSADL-svn-commits] r2 - documentation fddi-20070502-1 fddi-20070502-1/doc fddi-20070502-1/src fddi-20070529-1 fddi-20070529-1/doc fddi-20070529-1/src fddi-20070618-1 fddi-20070618-1/doc fddi-20070618-1/src protocols src
OSADL repository commits
osadl-svn-commits at lists.osadl.org
Tue Oct 2 11:41:08 CEST 2007
Author: robert
Date: Mon Jun 18 19:44:22 2007
New Revision: 2
Log:
added dhe's versions from the mailing list
Added:
fddi-20070502-1/
fddi-20070502-1/doc/
fddi-20070502-1/doc/Fieldbus-Device-Driver-Interface.pdf (contents, props changed)
fddi-20070502-1/src/
fddi-20070529-1/
fddi-20070529-1/doc/
fddi-20070529-1/doc/Fieldbus-Device-Driver-Interface.odt (contents, props changed)
fddi-20070529-1/src/
fddi-20070529-1/src/fddi.h
fddi-20070618-1/
fddi-20070618-1/doc/
fddi-20070618-1/doc/Fieldbus-Device-Driver-Interface.odt (contents, props changed)
fddi-20070618-1/src/
fddi-20070618-1/src/fddi.c
fddi-20070618-1/src/fddi.h
Removed:
documentation/
protocols/
src/
Added: fddi-20070502-1/doc/Fieldbus-Device-Driver-Interface.pdf
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Added: fddi-20070529-1/doc/Fieldbus-Device-Driver-Interface.odt
==============================================================================
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Added: fddi-20070529-1/src/fddi.h
==============================================================================
--- (empty file)
+++ fddi-20070529-1/src/fddi.h Mon Jun 18 19:44:22 2007
@@ -0,0 +1,392 @@
+/* fieldbus device driver interface */
+
+
+/* #include "lldi.h" */
+typedef void *LL_INTERFACE;
+
+/* result codes */
+#define RESOK 0
+#define RESERR_INTERFACE_ALREADY_REGISTERD 1
+#define RESERR_LLINTERFACE_ALREADY_IN_USE 2
+#define RESERR_LLINTERFACE_HAS_WRONG_TYPE 3
+#define RESERR_OUT_OF_MEM 4
+#define RESERR_TIMEOUT 5
+#define RESERR_NO_ACCESS 6
+#define RESERR_BUFFER_TO_SMALL 7
+#define RESERR_WRONGTPUTYPE 8
+
+/* io-interface */
+struct _io_interface
+{
+ char* name; /* name of the interface */
+ unsigned long version; /* version of the interface */
+
+ int (*_fptr_bind_io_interface)(char* name, LL_INTERFACE llitf, struct _io_interface_inst **result);
+ /* function pointer of the bind_io_interface method (see bind_io_interface for further information) */
+ int (*_fptr_configure_io_interface_inst)(struct _io_interface_inst *itfinst, struct _io_device *root);
+ /* function pointer of the configure_io_interface_inst method (see configure_io_interface for further information) */
+ int (*_fptr_scan_io_interface_inst)(struct _io_interface_inst *itfinst, struct _io_device **root);
+ /* function pointer of the scan_io_interface_inst method (see scan_io_interface_inst for further information) */
+};
+
+typedef struct _io_interface *IO_INTERFACE;
+
+
+/* instance of io-interface */
+struct _io_interface_inst
+{
+ char* name; /* name of the io-interface-instance */
+ IO_INTERFACE ioitf; /* the type of the io-interface */
+ LL_INTERFACE llitf; /* the low level interface, to which the io-interface is bound to */
+
+ struct _io_device *root; /* root device, set during configuration */
+
+ int num_tpus; /* number of io-transport units (set after configuration) */
+ struct _io_transport_units *tpus; /* list of io-transport units (set after configuration) */
+
+ void* inst_data; /* type specific management data */
+};
+
+typedef struct _io_interface_inst *IO_INTERFACE_INST;
+
+
+/* io-device */
+enum _io_device_state
+{
+ DEVSTATE_VOID, /* the device is not configured */
+ DEVSTATE_MISSING, /* the configuration of the device failed, because it is missing */
+ DEVSTATE_CONFIG_ERROR, /* the configuration of the device failed, because of wrong config data */
+ DEVSTATE_PREOPERATIONAL, /* the device is configured, but not working */
+ DEVSTATE_OPERATIONAL, /* the device is working */
+ DEVSTATE_OPERATION_ERROR /* the device encountered an error, while it is working */
+};
+
+typedef enum _io_device_state IO_DEVICE_STATE;
+
+enum _io_device_command
+{
+ DEVCMD_START, /* start the device */
+ DEVCMD_STOP, /* stop the device */
+ DEVCMD_RESET, /* reset the device */
+ DEVCMD_IDENTIFY, /* let the device do something to identify itself (like blinking with a LED) */
+ DEVCMD_QUITERR /* quit an error of the device, to return to normal operation */
+};
+
+typedef enum _io_device_command IO_DEVICE_COMMAND;
+/* use this datatype with the function cmd_iodevice */
+
+struct _io_device_param
+{
+ unsigned long key;
+ unsigned long value;
+ unsigned short flags;
+};
+
+#define PARAMFLAG_PTR 0 /* value contains a pointer to a struct (frist word of the struct is size) */
+#define PARAMFLAG_BYTE 1 /* value contais a byte */
+#define PARAMFLAG_WORD 2 /* value contains a word */
+#define PARAMFLAG_LONG 3 /* value contains a double word */
+#define PARAMFLAG_TYPEMASK 3 /* value contains a double word */
+#define PARAMFLAG_DEFAULT 4 /* value contains a device default parameter. the parameter is used to set up the configuration,
+ * but need not to be sent to the device
+ */
+
+typedef struct _io_device_param IO_DEVICE_PARAM;
+
+struct _io_device
+{
+ IO_INTERFACE_INST itfinst; /* reference to owning io-interface instance (set by fddi) */
+
+ unsigned long physical_id; /* physical id of the device */
+ unsigned long logical_id; /* logical id of the device */
+ unsigned long type_id; /* type id of the device */
+ char* name; /* optional name of the device (from configuration) */
+
+ int num_params; /* number of parameters */
+ IO_DEVICE_PARAM* params; /* pointer to list of parameters */
+
+ struct _io_device* parent; /* parent device */
+ struct _io_device* first_child; /* first child device of this device */
+ struct _io_device* next_child;/* next child of the same parent */
+
+ IO_DEVICE_STATE state; /* state of the device */
+};
+
+typedef struct _io_device *IO_DEVICE;
+
+
+/* io-transport unit */
+struct _io_transport_unit
+{
+ IO_INTERFACE_INST itfinst; /* reference to owning io-interface instance (set by fddi) */
+
+ unsigned long id;
+ unsigned long time_stamp;
+ unsigned long flags;
+ unsigned long size;
+ unsigned char* buf_read;
+ unsigned char* buf_write;
+};
+
+#define TPUFLAG_IN 1 /* application reads from this transport unit */
+#define TPUFLAG_OUT 2 /* application writes to this transport unit */
+#define TPUFLAG_SYNC 4 /* this transport unit synchronizes a group of io-devices */
+#define TPUFLAG_EXTMEM 8 /* the memory of this transport unit is not maintained by the fddi */
+#define TPUFLAG_CONSIST 16 /* the memory of this transport unit is kept consistent by the fddi (cannot be used with TPUFLAG_EXTMEM) */
+
+typedef struct _io_transport_unit *IO_TRANSPORT_UNIT;
+
+
+/* io-variable */
+struct _io_variable
+{
+ char* name; /* optional name of the variable */
+ unsigned long size; /* size of the variable */
+ unsigned long offset; /* offset of the variable in io-transport unit */
+
+ IO_TRANSPORT_UNIT iotpu;/* reference to io-transport unit */
+ IO_DEVICE iodev; /* reference to io-device */
+};
+
+typedef struct _io_variable *IO_VARIABLE;
+
+
+
+/* functions of the fddi */
+int register_io_interface(IO_INTERFACE ioitf);
+ /* registers a new io-interface to the fddi layer (for example a CANopen stack)
+ *
+ * ioitf: [in] the definition of the new interface
+ *
+ * result: RESOK, RESERR_INTERFACE_ALREADY_REGISTERD, RESERR_OUT_OF_MEM
+ *
+ * remarks: this function is only called by the module which implements his own driver
+ * it need not to be called by users of an existiong driver
+ */
+
+int bind_io_interface(IO_INTERFACE ioitf, char* name, LL_INTERFACE llitf, IO_INTERFACE_INST* res);
+ /* binds a io-interface to a hardware interface (for example a CANopen stack to CAN interface 1)
+ *
+ * name: [in] name of the interface instance (for example "CANopen on can1")
+ * The name can be used to open the instance
+ * llitf: [in] handle of the low level interface, to which the io_interface should be bound to
+ * res: [out] pointer to resulting interface instace
+ *
+ * result: RESOK, RESERR_LLINTERFACE_ALREADY_IN_USE, RESERR_LLINTERFACE_HAS_WRONG_TYPE, RESERR_OUT_OF_MEM
+ */
+
+int enum_io_interfaces(IO_INTERFACE** ioitfs);
+ /* enumerates all registered io-interfaces
+ *
+ * ioitfs: [out] pointer to pointer to an array of io_interfaces
+ *
+ * result: Because this function can never fail, the number of io_interfaces is returned
+ */
+
+int enum_io_interface_instances(IO_INTERFACE_INST** ioitfinsts);
+ /* enumerates all io-interface instances
+ *
+ * ioitfinsts: [out] pointer to pointer to an array of io-interfaces-instances
+ *
+ * result: Because this function can never fail, the number of io interfaces instances is returned
+ */
+
+IO_INTERFACE get_io_interface(char* name);
+ /* retrieves a io-interface by its name
+ *
+ * name: [in] name of the io-interface to retrieved
+ *
+ * result: the io-interface with the given name or null if the name was not found
+ */
+
+IO_INTERFACE_INST get_io_interface_inst(char* name);
+ /* retrieves a io-interface instance by its name
+ *
+ * name: [in] name of the io-interface instance to retrieved
+ *
+ * result: the io-interface instance with the given name or null if the name was not found
+ */
+
+int enum_io_transport_units(IO_INTERFACE_INST ioitfinst, IO_TRANSPORT_UNIT** iotpus);
+ /* enumerates all configured io-transport-units of an io-interface instances
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iotpus: [out] pointer to pointer to an array of io-transport-units
+ *
+ * result: Because this function can never fail, the number of io-transport-units is returned
+ */
+
+int enum_io_devices(IO_INTERFACE_INST ioitfinst, IO_DEVICE** iodevices);
+ /* enumerates all configured io-devices of an io-interface instances as a flat list
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iodevices: [out] pointer to pointer to an array of io-devices
+ *
+ * result: Because this function can never fail, the number of io-devices is returned
+ */
+
+int enum_io_variables(IO_INTERFACE_INST ioitfinst, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-interface instances
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
+
+int configure_io_interface_inst(IO_INTERFACE_INST ioitfinst, IO_DEVICE root);
+ /* configures a io-interface instance
+ *
+ * ioitfinst: [in] the interface to be configured
+ * root: [in] root node, which contains the configured child nodes.
+ * Typically the root node contains the interface hardware and the childs are the fieldbus slaves.
+ * The following members of IO_DEVICE are expected to be set correctly in each node:
+ *
+ * logical_id;
+ * type_id;
+ * name; (optional)
+ *
+ * num_params;
+ * params;
+ *
+ * parent;
+ * first_child;
+ * next_child;
+ *
+ * result: RESOK, RESERR_OUT_OF_MEM
+ * remarks: all previous configurations are disgarded.
+ * configuration can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int scan_io_interface_inst(IO_INTERFACE_INST itfinst, IO_DEVICE *root);
+ /* scans a io-interface instance for all connected devices
+ *
+ * ioitfinst: [in] the interface to be scanned
+ * root: [out] root node, which contains the connected child nodes. The following members of IO_DEVICE
+ * are set:
+ *
+ * pysical_id
+ * logical_id;
+ * type_id;
+ * name; (optional)
+ *
+ * parent;
+ * first_child;
+ * next_child;
+ *
+ * result: RESOK, RESERR_OUT_OF_MEM
+ * remarks: a previous configurations is not disgarded.
+ * scan can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int read_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long buf_size, unsigned long* read_size);
+ /* performs an asynchronous read (for example CANopen SDO, Profibus DPV1 etc.) on an io-device
+ *
+ * iodev: [in] device on which the read operation is done
+ * address: [in] address in the device
+ * buf: [out] buffer to receive the result
+ * buf_size:[in] size of the buffer / size of the data to read
+ * read_size:[out] size of the data, which was actually read
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS, RESERR_BUFFER_TO_SMALL
+ * remarks: async read can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int write_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long size);
+ /* performs an asynchronous write (for example CANopen SDO, Profibus DPV1 etc.) on an io-device
+ *
+ * iodev: [in] device on which the write operation is done
+ * address: [in] address in the device
+ * buf: [in] buffer with the data to write
+ * buf_size:[in] size of the data to write
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS
+ * remarks: async write can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int cmd_iodevice(IO_DEVICE iodev, IO_DEVICE_COMMAND cmd);
+ /* performs a command like start, stop, reset on an io-device
+ *
+ * iodev: [in] device on which the command should be done
+ * cmd: [in] the command (see definition of IO_DEVICE_COMMAND)
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS
+ * remarks: cmd_iodevice can take some time. it can be useful to do process it in a extra thread with a timeout.
+ * a command done on the root device typically, executes the command for all devices (start, stop)
+ */
+
+int enum_io_variables_of_iodevice(IO_DEVICE iodev, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-device
+ *
+ * iodev: [in] device, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
+
+unsigned char* address_to_read(IO_TRANSPORT_UNIT iotpu);
+ /* Get the adress of the process data of a io-transport unit to read on it
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the address
+ * remarks: only read operations should be done on the memory area.
+ * use release_address after finishing read operations.
+ */
+
+unsigned char* address_to_write(IO_TRANSPORT_UNIT iotpu);
+ /* Get the address of the process data of a io-transport unit to write (modify) it
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the adress
+ * remarks: if the complete memory of the io-transport unit is written, use address_to_replace, because it may be faster.
+ * use release_adress after finishing write operations.
+ */
+
+unsigned char* address_to_replace(IO_TRANSPORT_UNIT iotpu);
+ /* Get the address of the process data of a io-transport unit to write the complete process data
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the adress
+ * remarks: this function is faster on consistent transport units than address_to_write
+ * use release_adress after finishing write operations.
+ */
+
+int release_adress(IO_TRANSPORT_UNIT iotpu, unsigned char* address);
+ /* Releases an address, previously retrieved by address_to_read, address_to_write, address_to_replace
+ *
+ * iotpu: [in] transport unit of which the address is released
+ * address: [in] address to release
+ *
+ * result: the adress
+ */
+
+int send_iotransport_unit(IO_TRANSPORT_UNIT iotpu);
+ /* Explcitly send an io-transport unit, to do I/O syncronously, application triggered
+ *
+ * iotpu: [in] transport unit which is to be sent
+ *
+ * result: RESOK, RESERR_WRONGTPUTYPE
+ */
+
+int register_callback_to_iotransport_unit(IO_TRANSPORT_UNIT iotpu, void (*callback)(IO_TRANSPORT_UNIT iotpu));
+ /* Registers a callback function to a io-transport unit, to do I/O synchronously, IO-system triggered
+ *
+ * iotpu: [in] transport unit which should trigger the callback
+ * callback:[in] callback function, which supplies a reference to the io-transport unit as parameter
+ *
+ * result: RESOK, RESERR_WRONGTPUTYPE
+ * remarks: the callback is called after a write operation is finished (release_address) on the given transport unit
+ */
+
+int enum_io_variables_of_iotransport_unit(IO_TRANSPORT_UNIT iotpu, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-transport-unit
+ *
+ * iotpu: [in] transport unit, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
+
Added: fddi-20070618-1/doc/Fieldbus-Device-Driver-Interface.odt
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Added: fddi-20070618-1/src/fddi.c
==============================================================================
--- (empty file)
+++ fddi-20070618-1/src/fddi.c Mon Jun 18 19:44:22 2007
@@ -0,0 +1,286 @@
+#include <string.h>
+#include <memory.h>
+#include <stdlib.h>
+#include "fddi.h"
+
+#define MAX_IO_INTERFACES 16
+#define MAX_IO_INTERFACE_INSTS 64
+
+/* managment of io-interfaces */
+static int num_of_interfaces = 0;
+static IO_INTERFACE io_interfaces[MAX_IO_INTERFACES];
+
+
+static int num_of_interface_instances = 0;
+static IO_INTERFACE_INST io_interface_instances[MAX_IO_INTERFACE_INSTS];
+
+int register_io_interface(IO_INTERFACE ioitf)
+{
+ if (num_of_interfaces >= MAX_IO_INTERFACES)
+ return RESERR_OUT_OF_MEM;
+ io_interfaces[num_of_interfaces++] = ioitf;
+ return RESOK;
+}
+
+int bind_io_interface(IO_INTERFACE ioitf, char* name, LL_INTERFACE llitf, IO_INTERFACE_INST* res)
+{
+ int ret;
+ if (num_of_interface_instances >= MAX_IO_INTERFACE_INSTS)
+ return RESERR_OUT_OF_MEM;
+ /* call to function pointer from registered io-interface */
+ ret = (*ioitf->_fptr_bind_io_interface)(name, llitf, res);
+ if (ret == RESOK)
+ io_interface_instances[num_of_interface_instances++] = *res;
+ return ret;
+}
+
+int enum_io_interfaces(IO_INTERFACE** ioitfs)
+{
+ *ioitfs = io_interfaces;
+ return num_of_interfaces;
+}
+
+int enum_io_interface_instances(IO_INTERFACE_INST** ioitfinsts)
+{
+ *ioitfinsts = io_interface_instances;
+ return num_of_interface_instances;
+}
+
+IO_INTERFACE get_io_interface(char* name)
+{
+ int i;
+ for (i = 0; i < num_of_interfaces; i++)
+ if (strcmp(name, io_interfaces[i]->name) == 0)
+ return io_interfaces[i];
+ return NULL;
+}
+
+IO_INTERFACE_INST get_io_interface_inst(char* name)
+{
+ int i;
+ for (i = 0; i < num_of_interface_instances; i++)
+ if (strcmp(name, io_interface_instances[i]->name) == 0)
+ return io_interface_instances[i];
+ return NULL;
+}
+
+int enum_io_transport_units(IO_INTERFACE_INST ioitfinst, IO_TRANSPORT_UNIT** iotpus)
+{
+ *iotpus = ioitfinst->tpus;
+ return ioitfinst->num_tpus;
+}
+
+int enum_io_devices(IO_INTERFACE_INST ioitfinst, IO_DEVICE** iodevices)
+{
+ *iodevices = ioitfinst->devlist;
+ return ioitfinst->num_dev;
+}
+
+int enum_io_variables(IO_INTERFACE_INST ioitfinst, IO_VARIABLE** iovars)
+{
+ *iovars = ioitfinst->varlist;
+ return ioitfinst->num_var;
+}
+
+static int count_devices(IO_DEVICE io_device)
+{
+ int n_dev;
+ IO_DEVICE dev_child;
+
+ if (io_device == NULL)
+ return 0;
+
+ n_dev = 1; // the device itself
+ dev_child = io_device->first_child;
+
+ while (dev_child != NULL)
+ {
+ n_dev += count_devices(dev_child);
+ dev_child = dev_child->next_child;
+ }
+ return n_dev;
+}
+
+static IO_DEVICE* fill_devices(IO_DEVICE dev, IO_DEVICE* devlist)
+/* return adress to continue. devlist must be large enough */
+{
+ IO_DEVICE* list = devlist;
+ IO_DEVICE dev_child;
+
+ *list = dev;
+ list++;
+
+ dev_child = dev->first_child;
+
+ while (dev_child != NULL)
+ {
+ list = fill_devices(dev_child, list);
+ dev_child = dev_child->next_child;
+ }
+ return list;
+}
+
+int configure_io_interface_inst(IO_INTERFACE_INST ioitfinst, IO_DEVICE root)
+{
+ int ret;
+ /* call to function pointer from registered io-interface */
+ ret = (*ioitfinst->ioitf->_fptr_configure_io_interface_inst)(ioitfinst, root);
+ if (ret == RESOK)
+ {
+ int i;
+ IO_VARIABLE* list;
+
+ /* the configure method fills the tpu-list */
+ /* the other lists are filled by the fddi interface in this function */
+
+ /* fill device list */
+ ioitfinst->num_dev = count_devices(root);
+ ioitfinst->devlist = malloc(ioitfinst->num_dev * sizeof(IO_DEVICE));
+ fill_devices(root, ioitfinst->devlist);
+
+ /* fill variable list */
+ ioitfinst->num_var = 0;
+ for (i = 0; i < ioitfinst->num_tpus; i++)
+ ioitfinst->num_var += ioitfinst->tpus[i]->num_var;
+
+ ioitfinst->varlist = malloc(ioitfinst->num_var * sizeof(IO_VARIABLE));
+ list = ioitfinst->varlist;
+ for (i = 0; i < ioitfinst->num_tpus; i++)
+ {
+ memcpy(list, ioitfinst->tpus[i]->varlist, ioitfinst->tpus[i]->num_var * sizeof(IO_VARIABLE));
+ list += ioitfinst->tpus[i]->num_var;
+ }
+ }
+ return ret;
+}
+
+int scan_io_interface_inst(IO_INTERFACE_INST ioitfinst, IO_DEVICE *root)
+{
+ int ret;
+ /* call to function pointer from registered io-interface */
+ ret = (*ioitfinst->ioitf->_fptr_scan_io_interface_inst)(ioitfinst, root);
+ return ret;
+}
+
+int read_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long buf_size, unsigned long* read_size)
+{
+ int ret;
+ /* call to function pointer from registered io-interface */
+ ret = (*iodev->itfinst->ioitf->_fptr_read_device_async)(iodev, address, buf, buf_size, read_size);
+ return ret;
+}
+
+int write_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long size)
+{
+ int ret;
+ /* call to function pointer from registered io-interface */
+ ret = (*iodev->itfinst->ioitf->_fptr_write_device_async)(iodev, address, buf, size);
+ return ret;
+}
+
+int cmd_iodevice(IO_DEVICE iodev, IO_DEVICE_COMMAND cmd)
+{
+ int ret;
+ /* call to function pointer from registered io-interface */
+ ret = (*iodev->itfinst->ioitf->_fptr_cmd_device)(iodev, cmd);
+ return ret;
+}
+
+int enum_io_variables_of_iodevice(IO_DEVICE iodev, IO_VARIABLE** iovars)
+{
+ // todo
+ return 0;
+}
+
+/* A very simple implementation of transport units with a lot of improvement possibilities */
+/* While anyone is reading the buffer all write operations are done in a extra buffer to keep the read buffer consistent */
+
+unsigned char* address_to_read(IO_TRANSPORT_UNIT iotpu)
+{
+ iotpu->read_count++;
+ return iotpu->buf_read;
+}
+
+unsigned char* address_to_write(IO_TRANSPORT_UNIT iotpu)
+{
+ if (iotpu->write_count != 0)
+ return NULL;
+
+ iotpu->write_count++;
+ if (iotpu->buf_read == iotpu->buf_write)
+ {
+ iotpu->buf_write = malloc(iotpu->size);
+ memcpy(iotpu->buf_write, iotpu->buf_read, iotpu->size);
+ }
+ return iotpu->buf_write;
+}
+
+unsigned char* address_to_replace(IO_TRANSPORT_UNIT iotpu)
+{
+ if (iotpu->write_count != 0)
+ return NULL;
+
+ iotpu->write_count++;
+ if (iotpu->buf_read == iotpu->buf_write)
+ iotpu->buf_write = malloc(iotpu->size);
+ return iotpu->buf_write;
+}
+
+int release_adress(IO_TRANSPORT_UNIT iotpu, unsigned char* address)
+{
+ if (address == iotpu->buf_read)
+ {
+ iotpu->read_count--;
+ /* assert iotpu->read_count >= 0 */
+ if (iotpu->read_count == 0 && iotpu->write_count == 0 && iotpu->buf_read != iotpu->buf_write)
+ {
+ free(iotpu->buf_read);
+ iotpu->buf_read = iotpu->buf_write;
+ }
+ return RESOK;
+ }
+ else if (address == iotpu->buf_write)
+ {
+ int i;
+ iotpu->write_count--;
+ /* assert iotpu->write_count >= 0 */
+ if (iotpu->read_count == 0 && iotpu->write_count == 0 && iotpu->buf_read != iotpu->buf_write)
+ {
+ free(iotpu->buf_read);
+ iotpu->buf_read = iotpu->buf_write;
+ }
+
+ /* trigger callbacks */
+ for (i = 0; i < iotpu->num_callbacks; i++)
+ (*iotpu->callback[i])(iotpu);
+
+ return RESOK;
+ }
+ return RESERR_UNKOWNADDRESS;
+}
+
+int send_iotransport_unit(IO_TRANSPORT_UNIT iotpu)
+{
+ int res = 0;
+ /* pseudo code, because low level interface is not ready */
+ /* may be redirected trough stack */
+ /*
+ res = iotpu->itfinst->llitf->Send(iotpu->id, iotpu->buf_write, iotpu->size);
+ */
+ return 0;
+}
+
+int register_callback_to_iotransport_unit(IO_TRANSPORT_UNIT iotpu, void (*callback)(IO_TRANSPORT_UNIT iotpu))
+{
+ if (iotpu->num_callbacks >= MAXCALLBACKS)
+ return RESERR_OUT_OF_MEM;
+ iotpu->callback[iotpu->num_callbacks] = callback;
+ iotpu->num_callbacks++;
+ return RESOK;
+}
+
+int enum_io_variables_of_iotransport_unit(IO_TRANSPORT_UNIT iotpu, IO_VARIABLE** iovars)
+{
+ *iovars = iotpu->varlist;
+ return iotpu->num_var;
+}
Added: fddi-20070618-1/src/fddi.h
==============================================================================
--- (empty file)
+++ fddi-20070618-1/src/fddi.h Mon Jun 18 19:44:22 2007
@@ -0,0 +1,414 @@
+/* fieldbus device driver interface */
+
+
+/* #include "lldi.h" */
+typedef void *LL_INTERFACE;
+
+/* result codes */
+#define RESOK 0
+#define RESERR_INTERFACE_ALREADY_REGISTERD 1
+#define RESERR_LLINTERFACE_ALREADY_IN_USE 2
+#define RESERR_LLINTERFACE_HAS_WRONG_TYPE 3
+#define RESERR_OUT_OF_MEM 4
+#define RESERR_TIMEOUT 5
+#define RESERR_NO_ACCESS 6
+#define RESERR_BUFFER_TO_SMALL 7
+#define RESERR_WRONGTPUTYPE 8
+#define RESERR_UNKOWNADDRESS 9
+
+/* io-interface */
+struct _io_interface
+{
+ char* name; /* name of the interface */
+ unsigned long version; /* version of the interface */
+
+ int (*_fptr_bind_io_interface)(char* name, LL_INTERFACE llitf, struct _io_interface_inst **result);
+ /* function pointer of the bind_io_interface method (see bind_io_interface for further information) */
+ int (*_fptr_configure_io_interface_inst)(struct _io_interface_inst *itfinst, struct _io_device *root);
+ /* function pointer of the configure_io_interface_inst method (see configure_io_interface for further information) */
+ int (*_fptr_scan_io_interface_inst)(struct _io_interface_inst *itfinst, struct _io_device **root);
+ /* function pointer of the scan_io_interface_inst method (see scan_io_interface_inst for further information) */
+ int (*_fptr_read_device_async)(struct _io_device *dev, unsigned long address, unsigned char* buf, unsigned long buf_size, unsigned long* read_size);
+ /* function pointer of the read_iodevice_async method (see scan_io_interface_inst for further information) */
+ int (*_fptr_write_device_async)(struct _io_device *dev, unsigned long address, unsigned char* buf, unsigned long size);
+ /* function pointer of the write_iodevice_async method (see scan_io_interface_inst for further information) */
+ int (*_fptr_cmd_device)(struct _io_device *dev, enum _io_device_command cmd);
+ /* function pointer of the cmd_iodevice method (see scan_io_interface_inst for further information) */
+};
+
+typedef struct _io_interface *IO_INTERFACE;
+
+
+/* instance of io-interface */
+struct _io_interface_inst
+{
+ char* name; /* name of the io-interface-instance */
+ IO_INTERFACE ioitf; /* the type of the io-interface */
+ LL_INTERFACE llitf; /* the low level interface, to which the io-interface is bound to */
+
+ struct _io_device *root; /* root device, set during configuration */
+
+ int num_tpus; /* number of io-transport units (set after configuration) */
+ struct _io_transport_unit **tpus; /* list of io-transport units (set after configuration by fddi-driver) */
+
+ int num_dev; /* number of devices */
+ struct _io_device **devlist; /* linear list of all devices (set automatically after configuration by fddi) */
+
+ int num_var; /* number of variables */
+ struct _io_variable **varlist; /* linear list of all variables (set after configuration by fddi-driver) */
+
+ void* inst_data; /* type specific management data */
+};
+
+typedef struct _io_interface_inst *IO_INTERFACE_INST;
+
+
+/* io-device */
+enum _io_device_state
+{
+ DEVSTATE_VOID, /* the device is not configured */
+ DEVSTATE_MISSING, /* the configuration of the device failed, because it is missing */
+ DEVSTATE_CONFIG_ERROR, /* the configuration of the device failed, because of wrong config data */
+ DEVSTATE_PREOPERATIONAL, /* the device is configured, but not working */
+ DEVSTATE_OPERATIONAL, /* the device is working */
+ DEVSTATE_OPERATION_ERROR /* the device encountered an error, while it is working */
+};
+
+typedef enum _io_device_state IO_DEVICE_STATE;
+
+enum _io_device_command
+{
+ DEVCMD_START, /* start the device */
+ DEVCMD_STOP, /* stop the device */
+ DEVCMD_RESET, /* reset the device */
+ DEVCMD_IDENTIFY, /* let the device do something to identify itself (like blinking with a LED) */
+ DEVCMD_QUITERR /* quit an error of the device, to return to normal operation */
+};
+
+typedef enum _io_device_command IO_DEVICE_COMMAND;
+/* use this datatype with the function cmd_iodevice */
+
+struct _io_device_param
+{
+ unsigned long key;
+ unsigned long value;
+ unsigned short flags;
+};
+
+#define PARAMFLAG_PTR 0 /* value contains a pointer to a struct (frist word of the struct is size) */
+#define PARAMFLAG_BYTE 1 /* value contais a byte */
+#define PARAMFLAG_WORD 2 /* value contains a word */
+#define PARAMFLAG_LONG 3 /* value contains a double word */
+#define PARAMFLAG_TYPEMASK 3 /* value contains a double word */
+#define PARAMFLAG_DEFAULT 4 /* value contains a device default parameter. the parameter is used to set up the configuration,
+ * but need not to be sent to the device
+ */
+
+typedef struct _io_device_param IO_DEVICE_PARAM;
+
+struct _io_device
+{
+ IO_INTERFACE_INST itfinst; /* reference to owning io-interface instance (set by fddi) */
+
+ unsigned long physical_id; /* physical id of the device */
+ unsigned long logical_id; /* logical id of the device */
+ unsigned long type_id; /* type id of the device */
+ char* name; /* optional name of the device (from configuration) */
+
+ int num_params; /* number of parameters */
+ IO_DEVICE_PARAM* params; /* pointer to list of parameters */
+
+ struct _io_device* parent; /* parent device */
+ struct _io_device* first_child; /* first child device of this device */
+ struct _io_device* next_child;/* next child of the same parent */
+
+ IO_DEVICE_STATE state; /* state of the device */
+};
+
+typedef struct _io_device *IO_DEVICE;
+
+#define MAXCALLBACKS 3
+
+/* io-transport unit */
+struct _io_transport_unit
+{
+ IO_INTERFACE_INST itfinst; /* reference to owning io-interface instance (set by fddi) */
+
+ unsigned long id;
+ unsigned long time_stamp;
+ unsigned long flags;
+ unsigned long size;
+ unsigned char* buf_read;
+ unsigned char* buf_write;
+
+ int num_callbacks;
+ void (*callback[MAXCALLBACKS])(struct _io_transport_unit *iotpu);
+
+ int read_count;
+ int write_count;
+
+ int num_var; /* number of variables */
+ struct _io_variable **varlist; /* linear list of all variables (set after configuration by fddi-driver) */
+};
+
+#define TPUFLAG_IN 1 /* application reads from this transport unit */
+#define TPUFLAG_OUT 2 /* application writes to this transport unit */
+#define TPUFLAG_SYNC 4 /* this transport unit synchronizes a group of io-devices */
+#define TPUFLAG_EXTMEM 8 /* the memory of this transport unit is not maintained by the fddi */
+#define TPUFLAG_CONSIST 16 /* the memory of this transport unit is kept consistent by the fddi (cannot be used with TPUFLAG_EXTMEM) */
+
+typedef struct _io_transport_unit *IO_TRANSPORT_UNIT;
+
+
+/* io-variable */
+struct _io_variable
+{
+ char* name; /* optional name of the variable */
+ unsigned long size; /* size of the variable */
+ unsigned long offset; /* offset of the variable in io-transport unit */
+
+ IO_TRANSPORT_UNIT iotpu;/* reference to io-transport unit */
+ IO_DEVICE iodev; /* reference to io-device */
+};
+
+typedef struct _io_variable *IO_VARIABLE;
+
+
+
+/* functions of the fddi */
+int register_io_interface(IO_INTERFACE ioitf);
+ /* registers a new io-interface to the fddi layer (for example a CANopen stack)
+ *
+ * ioitf: [in] the definition of the new interface
+ *
+ * result: RESOK, RESERR_INTERFACE_ALREADY_REGISTERD, RESERR_OUT_OF_MEM
+ *
+ * remarks: this function is only called by the module which implements his own driver
+ * it need not to be called by users of an existiong driver
+ */
+
+int bind_io_interface(IO_INTERFACE ioitf, char* name, LL_INTERFACE llitf, IO_INTERFACE_INST* res);
+ /* binds a io-interface to a hardware interface (for example a CANopen stack to CAN interface 1)
+ *
+ * name: [in] name of the interface instance (for example "CANopen on can1")
+ * The name can be used to open the instance
+ * llitf: [in] handle of the low level interface, to which the io_interface should be bound to
+ * res: [out] pointer to resulting interface instace
+ *
+ * result: RESOK, RESERR_LLINTERFACE_ALREADY_IN_USE, RESERR_LLINTERFACE_HAS_WRONG_TYPE, RESERR_OUT_OF_MEM
+ */
+
+int enum_io_interfaces(IO_INTERFACE** ioitfs);
+ /* enumerates all registered io-interfaces
+ *
+ * ioitfs: [out] pointer to pointer to an array of io_interfaces
+ *
+ * result: Because this function can never fail, the number of io_interfaces is returned
+ */
+
+int enum_io_interface_instances(IO_INTERFACE_INST** ioitfinsts);
+ /* enumerates all io-interface instances
+ *
+ * ioitfinsts: [out] pointer to pointer to an array of io-interfaces-instances
+ *
+ * result: Because this function can never fail, the number of io interfaces instances is returned
+ */
+
+IO_INTERFACE get_io_interface(char* name);
+ /* retrieves a io-interface by its name
+ *
+ * name: [in] name of the io-interface to retrieved
+ *
+ * result: the io-interface with the given name or null if the name was not found
+ */
+
+IO_INTERFACE_INST get_io_interface_inst(char* name);
+ /* retrieves a io-interface instance by its name
+ *
+ * name: [in] name of the io-interface instance to retrieved
+ *
+ * result: the io-interface instance with the given name or null if the name was not found
+ */
+
+int enum_io_transport_units(IO_INTERFACE_INST ioitfinst, IO_TRANSPORT_UNIT** iotpus);
+ /* enumerates all configured io-transport-units of an io-interface instances
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iotpus: [out] pointer to pointer to an array of io-transport-units
+ *
+ * result: Because this function can never fail, the number of io-transport-units is returned
+ */
+
+int enum_io_devices(IO_INTERFACE_INST ioitfinst, IO_DEVICE** iodevices);
+ /* enumerates all configured io-devices of an io-interface instances as a flat list
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iodevices: [out] pointer to pointer to an array of io-devices
+ *
+ * result: Because this function can never fail, the number of io-devices is returned
+ */
+
+int enum_io_variables(IO_INTERFACE_INST ioitfinst, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-interface instances
+ *
+ * ioitfinst: [in] interface instance, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
+
+int configure_io_interface_inst(IO_INTERFACE_INST ioitfinst, IO_DEVICE root);
+ /* configures a io-interface instance
+ *
+ * ioitfinst: [in] the interface to be configured
+ * root: [in] root node, which contains the configured child nodes.
+ * Typically the root node contains the interface hardware and the childs are the fieldbus slaves.
+ * The following members of IO_DEVICE are expected to be set correctly in each node:
+ *
+ * logical_id;
+ * type_id;
+ * name; (optional)
+ *
+ * num_params;
+ * params;
+ *
+ * parent;
+ * first_child;
+ * next_child;
+ *
+ * result: RESOK, RESERR_OUT_OF_MEM
+ * remarks: all previous configurations are disgarded.
+ * configuration can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int scan_io_interface_inst(IO_INTERFACE_INST itfinst, IO_DEVICE *root);
+ /* scans a io-interface instance for all connected devices
+ *
+ * ioitfinst: [in] the interface to be scanned
+ * root: [out] root node, which contains the connected child nodes. The following members of IO_DEVICE
+ * are set:
+ *
+ * pysical_id
+ * logical_id;
+ * type_id;
+ * name; (optional)
+ *
+ * parent;
+ * first_child;
+ * next_child;
+ *
+ * result: RESOK, RESERR_OUT_OF_MEM
+ * remarks: a previous configurations is not disgarded.
+ * scan can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int read_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long buf_size, unsigned long* read_size);
+ /* performs an asynchronous read (for example CANopen SDO, Profibus DPV1 etc.) on an io-device
+ *
+ * iodev: [in] device on which the read operation is done
+ * address: [in] address in the device
+ * buf: [out] buffer to receive the result
+ * buf_size:[in] size of the buffer / size of the data to read
+ * read_size:[out] size of the data, which was actually read
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS, RESERR_BUFFER_TO_SMALL
+ * remarks: async read can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int write_iodevice_async(IO_DEVICE iodev, unsigned long address, unsigned char* buf, unsigned long size);
+ /* performs an asynchronous write (for example CANopen SDO, Profibus DPV1 etc.) on an io-device
+ *
+ * iodev: [in] device on which the write operation is done
+ * address: [in] address in the device
+ * buf: [in] buffer with the data to write
+ * buf_size:[in] size of the data to write
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS
+ * remarks: async write can take some time. it can be useful to do process it in a extra thread with a timeout.
+ */
+
+int cmd_iodevice(IO_DEVICE iodev, IO_DEVICE_COMMAND cmd);
+ /* performs a command like start, stop, reset on an io-device
+ *
+ * iodev: [in] device on which the command should be done
+ * cmd: [in] the command (see definition of IO_DEVICE_COMMAND)
+ *
+ * result: RESOK, RESERR_TIMEOUT, RESERR_NO_ACCESS
+ * remarks: cmd_iodevice can take some time. it can be useful to do process it in a extra thread with a timeout.
+ * a command done on the root device typically, executes the command for all devices (start, stop)
+ */
+
+int enum_io_variables_of_iodevice(IO_DEVICE iodev, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-device
+ *
+ * iodev: [in] device, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
+
+unsigned char* address_to_read(IO_TRANSPORT_UNIT iotpu);
+ /* Get the adress of the process data of a io-transport unit to read on it
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the address
+ * remarks: only read operations should be done on the memory area.
+ * use release_address after finishing read operations.
+ */
+
+unsigned char* address_to_write(IO_TRANSPORT_UNIT iotpu);
+ /* Get the address of the process data of a io-transport unit to write (modify) it
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the adress
+ * remarks: if the complete memory of the io-transport unit is written, use address_to_replace, because it may be faster.
+ * use release_adress after finishing write operations.
+ */
+
+unsigned char* address_to_replace(IO_TRANSPORT_UNIT iotpu);
+ /* Get the address of the process data of a io-transport unit to write the complete process data
+ *
+ * iotpu: [in] transport unit of which the address is retrieved
+ *
+ * result: the adress
+ * remarks: this function is faster on consistent transport units than address_to_write
+ * use release_adress after finishing write operations.
+ */
+
+int release_adress(IO_TRANSPORT_UNIT iotpu, unsigned char* address);
+ /* Releases an address, previously retrieved by address_to_read, address_to_write, address_to_replace
+ *
+ * iotpu: [in] transport unit of which the address is released
+ * address: [in] address to release
+ *
+ * result: RESOK, RESERR_UNKOWNADDRESS
+ */
+
+int send_iotransport_unit(IO_TRANSPORT_UNIT iotpu);
+ /* Explcitly send an io-transport unit, to do I/O syncronously, application triggered
+ *
+ * iotpu: [in] transport unit which is to be sent
+ *
+ * result: RESOK, RESERR_WRONGTPUTYPE
+ */
+
+int register_callback_to_iotransport_unit(IO_TRANSPORT_UNIT iotpu, void (*callback)(IO_TRANSPORT_UNIT iotpu));
+ /* Registers a callback function to a io-transport unit, to do I/O synchronously, IO-system triggered
+ *
+ * iotpu: [in] transport unit which should trigger the callback
+ * callback:[in] callback function, which supplies a reference to the io-transport unit as parameter
+ *
+ * result: RESOK, RESERR_WRONGTPUTYPE
+ * remarks: the callback is called after a write operation is finished (release_address) on the given transport unit
+ */
+
+int enum_io_variables_of_iotransport_unit(IO_TRANSPORT_UNIT iotpu, IO_VARIABLE** iovars);
+ /* enumerates all configured io-variables of an io-transport-unit
+ *
+ * iotpu: [in] transport unit, which content should be enumerated
+ * iovars: [out] pointer to pointer to an array of io-variables
+ *
+ * result: Because this function can never fail, the number of io-variables is returned
+ */
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