IgH EtherCAT Master: slave.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_SLAVE_H__
00038 #define __EC_SLAVE_H__
00039 
00040 #include <linux/list.h>
00041 #include <linux/kobject.h>
00042 
00043 #include "globals.h"
00044 #include "datagram.h"
00045 #include "pdo.h"
00046 #include "sync.h"
00047 #include "sdo.h"
00048 #include "fsm_slave.h"
00049 
00050 /*****************************************************************************/
00051 
00062 #define EC_SLAVE_INFO(slave, fmt, args...) \
00063     printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
00064             slave->ring_position, ##args)
00065 
00076 #define EC_SLAVE_ERR(slave, fmt, args...) \
00077     printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
00078             slave->ring_position, ##args)
00079 
00090 #define EC_SLAVE_WARN(slave, fmt, args...) \
00091     printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
00092             slave->master->index, slave->ring_position, ##args)
00093 
00106 #define EC_SLAVE_DBG(slave, level, fmt, args...) \
00107     do { \
00108         if (slave->master->debug_level >= level) { \
00109             printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
00110                     slave->master->index, slave->ring_position, ##args); \
00111         } \
00112     } while (0)
00113 
00114 /*****************************************************************************/
00115 
00118 typedef struct {
00119     ec_slave_port_desc_t desc; 
00120     ec_slave_port_link_t link; 
00121     ec_slave_t *next_slave; 
00122     uint32_t receive_time; 
00124     uint32_t delay_to_next_dc; 
00126 } ec_slave_port_t;
00127 
00128 /*****************************************************************************/
00129 
00132 typedef struct {
00133     // Non-category data
00134     uint16_t alias; 
00135     uint32_t vendor_id; 
00136     uint32_t product_code; 
00137     uint32_t revision_number; 
00138     uint32_t serial_number; 
00139     uint16_t boot_rx_mailbox_offset; 
00140     uint16_t boot_rx_mailbox_size; 
00141     uint16_t boot_tx_mailbox_offset; 
00142     uint16_t boot_tx_mailbox_size; 
00143     uint16_t std_rx_mailbox_offset; 
00144     uint16_t std_rx_mailbox_size; 
00145     uint16_t std_tx_mailbox_offset; 
00146     uint16_t std_tx_mailbox_size; 
00147     uint16_t mailbox_protocols; 
00149     // Strings
00150     char **strings; 
00151     unsigned int string_count; 
00153     // General
00154     unsigned int has_general; 
00155     char *group; 
00156     char *image; 
00157     char *order; 
00158     char *name; 
00159     uint8_t physical_layer[EC_MAX_PORTS]; 
00160     ec_sii_coe_details_t coe_details; 
00161     ec_sii_general_flags_t general_flags; 
00162     int16_t current_on_ebus; 
00164     // SyncM
00165     ec_sync_t *syncs; 
00166     unsigned int sync_count; 
00168     // [RT]XPDO
00169     struct list_head pdos; 
00170 } ec_sii_t;
00171 
00172 /*****************************************************************************/
00173 
00176 struct ec_slave
00177 {
00178     ec_master_t *master; 
00179     ec_device_index_t device_index; 
00182     // addresses
00183     uint16_t ring_position; 
00184     uint16_t station_address; 
00185     uint16_t effective_alias; 
00187     ec_slave_port_t ports[EC_MAX_PORTS]; 
00189     // configuration
00190     ec_slave_config_t *config; 
00191     ec_slave_state_t requested_state; 
00192     ec_slave_state_t current_state; 
00193     unsigned int error_flag; 
00194     unsigned int force_config; 
00195     uint16_t configured_rx_mailbox_offset; 
00197     uint16_t configured_rx_mailbox_size; 
00199     uint16_t configured_tx_mailbox_offset; 
00201     uint16_t configured_tx_mailbox_size; 
00203     // base data
00204     uint8_t base_type; 
00205     uint8_t base_revision; 
00206     uint16_t base_build; 
00207     uint8_t base_fmmu_count; 
00208     uint8_t base_sync_count; 
00209     uint8_t base_fmmu_bit_operation; 
00210     uint8_t base_dc_supported; 
00211     ec_slave_dc_range_t base_dc_range; 
00212     uint8_t has_dc_system_time; 
00215     uint32_t transmission_delay; 
00218     // SII
00219     uint16_t *sii_words; 
00220     size_t sii_nwords; 
00222     // Slave information interface
00223     ec_sii_t sii; 
00225     struct list_head sdo_dictionary; 
00226     uint8_t sdo_dictionary_fetched; 
00227     unsigned long jiffies_preop; 
00229     struct list_head sdo_requests; 
00230     struct list_head reg_requests; 
00231     struct list_head foe_requests; 
00232     struct list_head soe_requests; 
00234     ec_fsm_slave_t fsm; 
00235 };
00236 
00237 /*****************************************************************************/
00238 
00239 // slave construction/destruction
00240 void ec_slave_init(ec_slave_t *, ec_master_t *, ec_device_index_t,
00241         uint16_t, uint16_t);
00242 void ec_slave_clear(ec_slave_t *);
00243 
00244 void ec_slave_clear_sync_managers(ec_slave_t *);
00245 
00246 void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
00247 void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
00248 
00249 // SII categories
00250 int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
00251 int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
00252 int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
00253 int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
00254         ec_direction_t);
00255 
00256 // misc.
00257 ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t);
00258 
00259 void ec_slave_sdo_dict_info(const ec_slave_t *,
00260         unsigned int *, unsigned int *);
00261 ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
00262 const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
00263 const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
00264 uint16_t ec_slave_sdo_count(const ec_slave_t *);
00265 const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
00266 void ec_slave_attach_pdo_names(ec_slave_t *);
00267 
00268 void ec_slave_calc_port_delays(ec_slave_t *);
00269 void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);
00270 
00271 /*****************************************************************************/
00272 
00273 #endif