IgH EtherCAT Master: master.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_MASTER_H__
00038 #define __EC_MASTER_H__
00039 
00040 #include <linux/version.h>
00041 #include <linux/list.h>
00042 #include <linux/timer.h>
00043 #include <linux/wait.h>
00044 #include <linux/kthread.h>
00045 
00046 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
00047 #include <linux/semaphore.h>
00048 #else
00049 #include <asm/semaphore.h>
00050 #endif
00051 
00052 #include "device.h"
00053 #include "domain.h"
00054 #include "ethernet.h"
00055 #include "fsm_master.h"
00056 #include "cdev.h"
00057 
00058 #ifdef EC_RTDM
00059 #include "rtdm.h"
00060 #endif
00061 
00062 /*****************************************************************************/
00063 
00073 #define EC_MASTER_INFO(master, fmt, args...) \
00074     printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
00075 
00085 #define EC_MASTER_ERR(master, fmt, args...) \
00086     printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
00087 
00097 #define EC_MASTER_WARN(master, fmt, args...) \
00098     printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
00099 
00111 #define EC_MASTER_DBG(master, level, fmt, args...) \
00112     do { \
00113         if (master->debug_level >= level) { \
00114             printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
00115                     master->index, ##args); \
00116         } \
00117     } while (0)
00118 
00119 
00124 #define EC_EXT_RING_SIZE 32
00125 
00126 /*****************************************************************************/
00127 
00130 typedef enum {
00131     EC_ORPHANED, 
00133     EC_IDLE, 
00135     EC_OPERATION 
00137 } ec_master_phase_t;
00138 
00139 /*****************************************************************************/
00140 
00143 typedef struct {
00144     unsigned int timeouts; 
00145     unsigned int corrupted; 
00146     unsigned int unmatched; 
00148     unsigned long output_jiffies; 
00149 } ec_stats_t;
00150 
00151 /*****************************************************************************/
00152 
00155 typedef struct {
00156     u64 tx_count; 
00157     u64 last_tx_count; 
00158     u64 rx_count; 
00159     u64 last_rx_count; 
00161     u64 tx_bytes; 
00162     u64 last_tx_bytes; 
00163     u64 rx_bytes; 
00164     u64 last_rx_bytes; 
00166     u64 last_loss; 
00167     s32 tx_frame_rates[EC_RATE_COUNT]; 
00170     s32 rx_frame_rates[EC_RATE_COUNT]; 
00173     s32 tx_byte_rates[EC_RATE_COUNT]; 
00175     s32 rx_byte_rates[EC_RATE_COUNT]; 
00177     s32 loss_rates[EC_RATE_COUNT]; 
00179     unsigned long jiffies; 
00180 } ec_device_stats_t;
00181 
00182 /*****************************************************************************/
00183 
00184 #if EC_MAX_NUM_DEVICES < 1
00185 #error Invalid number of devices
00186 #endif
00187 
00188 /*****************************************************************************/
00189 
00194 struct ec_master {
00195     unsigned int index; 
00196     unsigned int reserved; 
00198     ec_cdev_t cdev; 
00199 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
00200     struct device *class_device; 
00201 #else
00202     struct class_device *class_device; 
00203 #endif
00204 
00205 #ifdef EC_RTDM
00206     ec_rtdm_dev_t rtdm_dev; 
00207 #endif
00208 
00209     struct semaphore master_sem; 
00211     ec_device_t devices[EC_MAX_NUM_DEVICES]; 
00212     const uint8_t *macs[EC_MAX_NUM_DEVICES]; 
00213 #if EC_MAX_NUM_DEVICES > 1
00214     unsigned int num_devices; 
00217 #endif
00218     struct semaphore device_sem; 
00219     ec_device_stats_t device_stats; 
00221     ec_fsm_master_t fsm; 
00222     ec_datagram_t fsm_datagram; 
00223     ec_master_phase_t phase; 
00224     unsigned int active; 
00225     unsigned int config_changed; 
00226     unsigned int injection_seq_fsm; 
00228     unsigned int injection_seq_rt; 
00231     ec_slave_t *slaves; 
00232     unsigned int slave_count; 
00234     /* Configuration applied by the application. */
00235     struct list_head configs; 
00236     struct list_head domains; 
00238     u64 app_time; 
00239     u64 app_start_time; 
00240     u8 has_app_time; 
00241     ec_datagram_t ref_sync_datagram; 
00243     ec_datagram_t sync_datagram; 
00245     ec_datagram_t sync_mon_datagram; 
00247     ec_slave_config_t *dc_ref_config; 
00249     ec_slave_t *dc_ref_clock; 
00251     unsigned int scan_busy; 
00252     unsigned int allow_scan; 
00253     struct semaphore scan_sem; 
00255     wait_queue_head_t scan_queue; 
00258     unsigned int config_busy; 
00259     struct semaphore config_sem; 
00261     wait_queue_head_t config_queue; 
00264     struct list_head datagram_queue; 
00265     uint8_t datagram_index; 
00267     struct list_head ext_datagram_queue; 
00269     struct semaphore ext_queue_sem; 
00272     ec_datagram_t ext_datagram_ring[EC_EXT_RING_SIZE]; 
00274     unsigned int ext_ring_idx_rt; 
00276     unsigned int ext_ring_idx_fsm; 
00278     unsigned int send_interval; 
00280     size_t max_queue_size; 
00282     ec_slave_t *fsm_slave; 
00283     struct list_head fsm_exec_list; 
00284     unsigned int fsm_exec_count; 
00286     unsigned int debug_level; 
00287     ec_stats_t stats; 
00289     struct task_struct *thread; 
00291 #ifdef EC_EOE
00292     struct task_struct *eoe_thread; 
00293     struct list_head eoe_handlers; 
00294 #endif
00295 
00296     struct semaphore io_sem; 
00298     void (*send_cb)(void *); 
00299     void (*receive_cb)(void *); 
00300     void *cb_data; 
00301     void (*app_send_cb)(void *); 
00303     void (*app_receive_cb)(void *); 
00305     void *app_cb_data; 
00307     struct list_head sii_requests; 
00308     struct list_head emerg_reg_requests; 
00311     wait_queue_head_t request_queue; 
00313 };
00314 
00315 /*****************************************************************************/
00316 
00317 // static funtions
00318 void ec_master_init_static(void);
00319 
00320 // master creation/deletion
00321 int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
00322         const uint8_t *, dev_t, struct class *, unsigned int);
00323 void ec_master_clear(ec_master_t *);
00324 
00327 #if EC_MAX_NUM_DEVICES > 1
00328 #define ec_master_num_devices(MASTER) ((MASTER)->num_devices)
00329 #else
00330 #define ec_master_num_devices(MASTER) 1
00331 #endif
00332 
00333 // phase transitions
00334 int ec_master_enter_idle_phase(ec_master_t *);
00335 void ec_master_leave_idle_phase(ec_master_t *);
00336 int ec_master_enter_operation_phase(ec_master_t *);
00337 void ec_master_leave_operation_phase(ec_master_t *);
00338 
00339 #ifdef EC_EOE
00340 // EoE
00341 void ec_master_eoe_start(ec_master_t *);
00342 void ec_master_eoe_stop(ec_master_t *);
00343 #endif
00344 
00345 // datagram IO
00346 void ec_master_receive_datagrams(ec_master_t *, ec_device_t *,
00347         const uint8_t *, size_t);
00348 void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
00349 void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
00350 
00351 // misc.
00352 void ec_master_set_send_interval(ec_master_t *, unsigned int);
00353 void ec_master_attach_slave_configs(ec_master_t *);
00354 ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
00355 const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
00356         uint16_t);
00357 void ec_master_output_stats(ec_master_t *);
00358 #ifdef EC_EOE
00359 void ec_master_clear_eoe_handlers(ec_master_t *);
00360 #endif
00361 void ec_master_clear_slaves(ec_master_t *);
00362 
00363 unsigned int ec_master_config_count(const ec_master_t *);
00364 ec_slave_config_t *ec_master_get_config(
00365         const ec_master_t *, unsigned int);
00366 const ec_slave_config_t *ec_master_get_config_const(
00367         const ec_master_t *, unsigned int);
00368 unsigned int ec_master_domain_count(const ec_master_t *);
00369 ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
00370 const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
00371         unsigned int);
00372 #ifdef EC_EOE
00373 uint16_t ec_master_eoe_handler_count(const ec_master_t *);
00374 const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
00375 #endif
00376 
00377 int ec_master_debug_level(ec_master_t *, unsigned int);
00378 
00379 ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);
00380 ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
00381         uint16_t, uint32_t, uint32_t);
00382 
00383 void ec_master_calc_dc(ec_master_t *);
00384 void ec_master_request_op(ec_master_t *);
00385 
00386 void ec_master_internal_send_cb(void *);
00387 void ec_master_internal_receive_cb(void *);
00388 
00389 extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c
00390 
00391 /*****************************************************************************/
00392 
00393 #endif