IgH EtherCAT Master: slave_config.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_CONFIG_H__
00038 #define __EC_SLAVE_CONFIG_H__
00039 
00040 #include <linux/list.h>
00041 
00042 #include "globals.h"
00043 #include "slave.h"
00044 #include "sync_config.h"
00045 #include "fmmu_config.h"
00046 #include "coe_emerg_ring.h"
00047 
00048 /*****************************************************************************/
00049 
00061 #define EC_CONFIG_INFO(sc, fmt, args...) \
00062     printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
00063             sc->alias, sc->position, ##args)
00064 
00075 #define EC_CONFIG_ERR(sc, fmt, args...) \
00076     printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
00077             sc->alias, sc->position, ##args)
00078 
00089 #define EC_CONFIG_WARN(sc, fmt, args...) \
00090     printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
00091             sc->master->index, sc->alias, sc->position, ##args)
00092 
00106 #define EC_CONFIG_DBG(sc, level, fmt, args...) \
00107     do { \
00108         if (sc->master->debug_level >= level) { \
00109             printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \
00110                     sc->master->index, sc->alias, sc->position, ##args); \
00111         } \
00112     } while (0)
00113 
00114 /*****************************************************************************/
00115 
00118 struct ec_slave_config {
00119     struct list_head list; 
00120     ec_master_t *master; 
00122     uint16_t alias; 
00123     uint16_t position; 
00125     uint32_t vendor_id; 
00126     uint32_t product_code; 
00128     uint16_t watchdog_divider; 
00130     uint16_t watchdog_intervals; 
00133     ec_slave_t *slave; 
00136     ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; 
00138     ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; 
00139     uint8_t used_fmmus; 
00140     uint16_t dc_assign_activate; 
00141     ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; 
00143     struct list_head sdo_configs; 
00144     struct list_head sdo_requests; 
00145     struct list_head voe_handlers; 
00146     struct list_head reg_requests; 
00147     struct list_head soe_configs; 
00149     ec_coe_emerg_ring_t emerg_ring; 
00150 };
00151 
00152 /*****************************************************************************/
00153 
00154 void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
00155         uint16_t, uint32_t, uint32_t);
00156 void ec_slave_config_clear(ec_slave_config_t *);
00157 
00158 int ec_slave_config_attach(ec_slave_config_t *);
00159 void ec_slave_config_detach(ec_slave_config_t *);
00160 
00161 void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
00162 
00163 unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
00164 const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
00165         const ec_slave_config_t *, unsigned int);
00166 unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
00167 const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
00168         const ec_slave_config_t *, unsigned int);
00169 ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
00170         unsigned int);
00171 ec_reg_request_t *ec_slave_config_find_reg_request(ec_slave_config_t *,
00172         unsigned int);
00173 ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
00174         unsigned int);
00175 
00176 ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
00177         ec_slave_config_t *, uint16_t, uint8_t, size_t);
00178 ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
00179         ec_slave_config_t *, size_t);
00180 ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
00181         ec_slave_config_t *, size_t);
00182 
00183 /*****************************************************************************/
00184 
00185 #endif