author | Florian Pose <fp@igh-essen.com> |
Tue, 04 Sep 2012 14:19:06 +0200 | |
changeset 2411 | 01370d59233d |
parent 2045 | ff2a13a4603c |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
0 | 2 |
* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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parents:
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10 |
* modify it under the terms of the GNU General Public License version 2, as |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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* published by the Free Software Foundation. |
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* |
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parents:
1209
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|
13 |
* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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parents:
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14 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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parents:
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15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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25 |
* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
0 | 29 |
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/** |
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\file |
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EtherCAT slave structure. |
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*/ |
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|
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/*****************************************************************************/ |
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|
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#ifndef __EC_SLAVE_H__ |
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#define __EC_SLAVE_H__ |
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#include <linux/list.h> |
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#include <linux/kobject.h> |
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#include "globals.h" |
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#include "datagram.h" |
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#include "pdo.h" |
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#include "sync.h" |
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#include "sdo.h" |
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#include "fsm_slave.h" |
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#include "mailbox.h" |
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/*****************************************************************************/ |
0 | 52 |
|
1921 | 53 |
/** Convenience macro for printing slave-specific information to syslog. |
54 |
* |
|
55 |
* This will print the message in \a fmt with a prefixed |
|
56 |
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and |
|
57 |
* POSITION is the slave's ring position. |
|
58 |
* |
|
59 |
* \param slave EtherCAT slave |
|
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* \param fmt format string (like in printf()) |
|
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* \param args arguments (optional) |
|
62 |
*/ |
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#ifdef USE_TRACE_PRINTK |
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#define EC_SLAVE_INFO(slave, fmt, args...) \ |
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do { \ |
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__trace_printk(_THIS_IP_,"EtherCAT %u-%u: " fmt, slave->master->index, \ |
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slave->ring_position, ##args); \ |
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printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \ |
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slave->ring_position, ##args); \ |
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} while (0) |
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#else |
1921 | 72 |
#define EC_SLAVE_INFO(slave, fmt, args...) \ |
73 |
printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \ |
|
74 |
slave->ring_position, ##args) |
|
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#endif |
1921 | 76 |
|
77 |
/** Convenience macro for printing slave-specific errors to syslog. |
|
78 |
* |
|
79 |
* This will print the message in \a fmt with a prefixed |
|
80 |
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and |
|
81 |
* POSITION is the slave's ring position. |
|
82 |
* |
|
83 |
* \param slave EtherCAT slave |
|
84 |
* \param fmt format string (like in printf()) |
|
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* \param args arguments (optional) |
|
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*/ |
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#ifdef USE_TRACE_PRINTK |
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#define EC_SLAVE_ERR(slave, fmt, args...) \ |
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do { \ |
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__trace_printk(_THIS_IP_,"EtherCAT ERROR %u-%u: " fmt, slave->master->index, \ |
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slave->ring_position, ##args); \ |
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printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \ |
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slave->ring_position, ##args); \ |
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} while (0) |
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#else |
1921 | 96 |
#define EC_SLAVE_ERR(slave, fmt, args...) \ |
97 |
printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \ |
|
98 |
slave->ring_position, ##args) |
|
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#endif |
1921 | 100 |
|
101 |
/** Convenience macro for printing slave-specific warnings to syslog. |
|
102 |
* |
|
103 |
* This will print the message in \a fmt with a prefixed |
|
104 |
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and |
|
105 |
* POSITION is the slave's ring position. |
|
106 |
* |
|
107 |
* \param slave EtherCAT slave |
|
108 |
* \param fmt format string (like in printf()) |
|
109 |
* \param args arguments (optional) |
|
110 |
*/ |
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#ifdef USE_TRACE_PRINTK |
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#define EC_SLAVE_WARN(slave, fmt, args...) \ |
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do { \ |
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__trace_printk(_THIS_IP_,"EtherCAT WARNING %u-%u: " fmt, \ |
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slave->master->index, slave->ring_position, ##args); \ |
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116 |
printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \ |
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117 |
slave->master->index, slave->ring_position, ##args); \ |
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} while (0) |
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119 |
#else |
1921 | 120 |
#define EC_SLAVE_WARN(slave, fmt, args...) \ |
121 |
printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \ |
|
122 |
slave->master->index, slave->ring_position, ##args) |
|
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123 |
#endif |
1921 | 124 |
|
125 |
/** Convenience macro for printing slave-specific debug messages to syslog. |
|
126 |
* |
|
127 |
* This will print the message in \a fmt with a prefixed |
|
128 |
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and |
|
129 |
* POSITION is the slave's ring position. |
|
130 |
* |
|
131 |
* \param slave EtherCAT slave |
|
132 |
* \param fmt format string (like in printf()) |
|
133 |
* \param args arguments (optional) |
|
134 |
*/ |
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135 |
#ifdef USE_TRACE_PRINTK |
1921 | 136 |
#define EC_SLAVE_DBG(slave, level, fmt, args...) \ |
137 |
do { \ |
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138 |
__trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u-%u: " fmt, \ |
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139 |
level,slave->master->index, slave->ring_position, ##args); \ |
1921 | 140 |
if (slave->master->debug_level >= level) { \ |
141 |
printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \ |
|
142 |
slave->master->index, slave->ring_position, ##args); \ |
|
143 |
} \ |
|
144 |
} while (0) |
|
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#else |
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146 |
#define EC_SLAVE_DBG(slave, level, fmt, args...) \ |
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147 |
do { \ |
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148 |
if (slave->master->debug_level >= level) { \ |
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149 |
printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \ |
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150 |
slave->master->index, slave->ring_position, ##args); \ |
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151 |
} \ |
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152 |
} while (0) |
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153 |
#endif |
1921 | 154 |
|
155 |
/*****************************************************************************/ |
|
156 |
||
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157 |
/** Slave port. |
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158 |
*/ |
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159 |
typedef struct { |
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160 |
ec_slave_port_desc_t desc; /**< Port descriptors. */ |
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161 |
ec_slave_port_link_t link; /**< Port link status. */ |
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162 |
ec_slave_t *next_slave; /**< Connected slaves. */ |
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163 |
uint32_t receive_time; /**< Port receive times for delay |
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164 |
measurement. */ |
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165 |
uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind |
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166 |
this port [ns]. */ |
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167 |
} ec_slave_port_t; |
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168 |
|
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169 |
/*****************************************************************************/ |
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170 |
|
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171 |
/** Slave information interface data. |
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172 |
*/ |
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173 |
typedef struct { |
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174 |
// Non-category data |
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175 |
uint16_t alias; /**< Configured station alias. */ |
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176 |
uint32_t vendor_id; /**< Vendor ID. */ |
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177 |
uint32_t product_code; /**< Vendor-specific product code. */ |
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178 |
uint32_t revision_number; /**< Revision number. */ |
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179 |
uint32_t serial_number; /**< Serial number. */ |
1337
0253c74d0940
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180 |
uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */ |
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181 |
uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */ |
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182 |
uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */ |
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183 |
uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */ |
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184 |
uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */ |
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|
185 |
uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */ |
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186 |
uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */ |
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187 |
uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */ |
834
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188 |
uint16_t mailbox_protocols; /**< Supported mailbox protocols. */ |
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189 |
|
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190 |
// Strings |
872 | 191 |
char **strings; /**< Strings in SII categories. */ |
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192 |
unsigned int string_count; /**< Number of SII strings. */ |
834
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193 |
|
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194 |
// General |
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195 |
unsigned int has_general; /**< General category present. */ |
1000
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196 |
char *group; /**< Group name. */ |
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197 |
char *image; /**< Image name. */ |
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198 |
char *order; /**< Order number. */ |
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|
199 |
char *name; /**< Slave name. */ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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|
200 |
uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */ |
835
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|
201 |
ec_sii_coe_details_t coe_details; /**< CoE detail flags. */ |
836 | 202 |
ec_sii_general_flags_t general_flags; /**< General flags. */ |
1000
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|
203 |
int16_t current_on_ebus; /**< Power consumption in mA. */ |
834
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204 |
|
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205 |
// SyncM |
1000
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206 |
ec_sync_t *syncs; /**< SYNC MANAGER categories. */ |
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|
207 |
unsigned int sync_count; /**< Number of sync managers. */ |
834
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208 |
|
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209 |
// [RT]XPDO |
1000
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|
210 |
struct list_head pdos; /**< SII [RT]XPDO categories. */ |
834
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211 |
} ec_sii_t; |
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212 |
|
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|
213 |
/*****************************************************************************/ |
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|
214 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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|
215 |
/** EtherCAT slave. |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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|
216 |
*/ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
217 |
struct ec_slave |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
218 |
{ |
1000
5746fdd1ca2e
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|
219 |
ec_master_t *master; /**< Master owning the slave. */ |
195
674071846ee3
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|
220 |
|
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|
221 |
// addresses |
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|
222 |
uint16_t ring_position; /**< Ring position. */ |
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|
223 |
uint16_t station_address; /**< Configured station address. */ |
1909
ea3eb4c74c1b
Introduced effective_alias variable to separate reg12 alias from SII alias.
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diff
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|
224 |
uint16_t effective_alias; /**< Effective alias address. */ |
195
674071846ee3
Translated all comments and documentation to english language.
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|
225 |
|
1425
c1322a8793c0
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|
226 |
ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */ |
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227 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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|
228 |
// configuration |
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Implemented most realtime interface changes for version 1.4, improved
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|
229 |
ec_slave_config_t *config; /**< Current configuration. */ |
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|
230 |
ec_slave_state_t requested_state; /**< Requested application state. */ |
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Implemented most realtime interface changes for version 1.4, improved
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|
231 |
ec_slave_state_t current_state; /**< Current application state. */ |
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Implemented most realtime interface changes for version 1.4, improved
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|
232 |
unsigned int error_flag; /**< Stop processing after an error. */ |
908
386b908033be
Replaced self_configured flag with force_config flag.
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changeset
|
233 |
unsigned int force_config; /**< Force (re-)configuration. */ |
1465 | 234 |
uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox |
235 |
offset. */ |
|
236 |
uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size. |
|
237 |
*/ |
|
238 |
uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox |
|
239 |
offset. */ |
|
240 |
uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */ |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
241 |
|
195
674071846ee3
Translated all comments and documentation to english language.
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|
242 |
// base data |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
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|
243 |
uint8_t base_type; /**< Slave type. */ |
5746fdd1ca2e
Store slaves in an array instead of a list.
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diff
changeset
|
244 |
uint8_t base_revision; /**< Revision. */ |
5746fdd1ca2e
Store slaves in an array instead of a list.
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diff
changeset
|
245 |
uint16_t base_build; /**< Build number. */ |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
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diff
changeset
|
246 |
uint8_t base_fmmu_count; /**< Number of supported FMMUs. */ |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
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|
247 |
uint8_t base_sync_count; /**< Number of supported sync managers. */ |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
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changeset
|
248 |
uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */ |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
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changeset
|
249 |
uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
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|
250 |
ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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|
251 |
uint8_t has_dc_system_time; /**< The slave supports the DC system time |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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|
252 |
register. Otherwise it can only be used for |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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|
253 |
delay measurement. */ |
1426 | 254 |
uint32_t transmission_delay; /**< DC system time transmission delay |
255 |
(offset from reference clock). */ |
|
195
674071846ee3
Translated all comments and documentation to english language.
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|
256 |
|
872 | 257 |
// SII |
977 | 258 |
uint16_t *sii_words; /**< Complete SII image. */ |
259 |
size_t sii_nwords; /**< Size of the SII contents in words. */ |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
260 |
|
1000
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Store slaves in an array instead of a list.
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|
261 |
// Slave information interface |
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changeset
|
262 |
ec_sii_t sii; /**< Extracted SII data. */ |
195
674071846ee3
Translated all comments and documentation to english language.
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190
diff
changeset
|
263 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
264 |
struct list_head sdo_dictionary; /**< SDO dictionary list */ |
1000
5746fdd1ca2e
Store slaves in an array instead of a list.
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diff
changeset
|
265 |
uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */ |
5746fdd1ca2e
Store slaves in an array instead of a list.
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diff
changeset
|
266 |
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */ |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
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1465
diff
changeset
|
267 |
|
1596
ea8d2b4ee742
Moved sdo request queue to slaves
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1583
diff
changeset
|
268 |
struct list_head slave_sdo_requests; /**< SDO access requests. */ |
ea8d2b4ee742
Moved sdo request queue to slaves
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1583
diff
changeset
|
269 |
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests |
ea8d2b4ee742
Moved sdo request queue to slaves
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diff
changeset
|
270 |
from user space. */ |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
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1596
diff
changeset
|
271 |
struct list_head foe_requests; /**< FoE write requests. */ |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
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1597
diff
changeset
|
272 |
wait_queue_head_t foe_queue; /**< Wait queue for FoE requests from user |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff
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|
273 |
space. */ |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
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1597
diff
changeset
|
274 |
struct list_head soe_requests; /**< FoE write requests. */ |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
275 |
wait_queue_head_t soe_queue; /**< Wait queue for SoE requests from user |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
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|
276 |
space. */ |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
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diff
changeset
|
277 |
ec_fsm_slave_t fsm; /**< Slave state machine. */ |
2045
ff2a13a4603c
Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents:
2037
diff
changeset
|
278 |
ec_datagram_t datagram; /** Datagram used for data transfers */ |
ff2a13a4603c
Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents:
2037
diff
changeset
|
279 |
ec_mailbox_t mbox; /**< Mailbox used for data transfers. */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
280 |
}; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
281 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
282 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
283 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
284 |
// slave construction/destruction |
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
285 |
void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); |
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
286 |
void ec_slave_clear(ec_slave_t *); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
287 |
|
870
fbd5924690ee
Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
288 |
void ec_slave_clear_sync_managers(ec_slave_t *); |
fbd5924690ee
Allow multiple sync manager categories.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
289 |
|
446 | 290 |
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t); |
610
29489a43ecee
Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
Florian Pose <fp@igh-essen.com>
parents:
601
diff
changeset
|
291 |
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t); |
446 | 292 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
298
diff
changeset
|
293 |
// SII categories |
742
03d2fe3d4a93
Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
294 |
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t); |
03d2fe3d4a93
Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
295 |
int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t); |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
619
diff
changeset
|
296 |
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t); |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents:
619
diff
changeset
|
297 |
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
791
diff
changeset
|
298 |
ec_direction_t); |
238
b4960499098f
Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
299 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
190
diff
changeset
|
300 |
// misc. |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1000
diff
changeset
|
301 |
ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
1000
diff
changeset
|
302 |
|
423
862ff892cf18
Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents:
421
diff
changeset
|
303 |
void ec_slave_sdo_dict_info(const ec_slave_t *, |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
630
diff
changeset
|
304 |
unsigned int *, unsigned int *); |
740
68d83b45dfa2
Added ec_slave_get_sdo() and ec_sdo_get_entry().
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
305 |
ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t); |
967
93807963b906
Added ec_slave_get_sdo_const().
Florian Pose <fp@igh-essen.com>
parents:
964
diff
changeset
|
306 |
const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t); |
964
957f21465052
Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents:
928
diff
changeset
|
307 |
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t); |
957f21465052
Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
Florian Pose <fp@igh-essen.com>
parents:
928
diff
changeset
|
308 |
uint16_t ec_slave_sdo_count(const ec_slave_t *); |
799 | 309 |
const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t); |
1186
ff481f097c97
Attach Pdo names from dictionary.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
310 |
void ec_slave_attach_pdo_names(ec_slave_t *); |
423
862ff892cf18
Better debugging output for SDO dictionaries.
Florian Pose <fp@igh-essen.com>
parents:
421
diff
changeset
|
311 |
|
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
312 |
void ec_slave_calc_port_delays(ec_slave_t *); |
1426 | 313 |
void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *); |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
314 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
5
diff
changeset
|
315 |
/*****************************************************************************/ |
0 | 316 |
|
317 |
#endif |