1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT slave structure.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#ifndef __EC_SLAVE_H__

    38

#define __EC_SLAVE_H__

    39

    40

#include <linux/list.h>

    41

#include <linux/kobject.h>

    42

    43

#include "globals.h"

    44

#include "datagram.h"

    45

#include "pdo.h"

    46

#include "sync.h"

    47

#include "sdo.h"

    48

    49

/*****************************************************************************/

    50

    51

/** Slave information interface data.

    52

 */

    53

typedef struct {

    54

    // Non-category data 

    55

    uint16_t alias; /**< Configured station alias. */

    56

    uint32_t vendor_id; /**< Vendor ID. */

    57

    uint32_t product_code; /**< Vendor-specific product code. */

    58

    uint32_t revision_number; /**< Revision number. */

    59

    uint32_t serial_number; /**< Serial number. */

    60

    uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */

    61

    uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */

    62

    uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */

    63

    uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */

    64

    uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */

    65

    uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */

    66

    uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */

    67

    uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */

    68

    uint16_t mailbox_protocols; /**< Supported mailbox protocols. */

    69

    70

    // Strings

    71

    char **strings; /**< Strings in SII categories. */

    72

    unsigned int string_count; /**< Number of SII strings. */

    73

    74

    // General

    75

    unsigned int has_general; /**< General category present. */

    76

    char *group; /**< Group name. */

    77

    char *image; /**< Image name. */

    78

    char *order; /**< Order number. */

    79

    char *name; /**< Slave name. */

    80

    uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */

    81

    ec_sii_coe_details_t coe_details; /**< CoE detail flags. */

    82

    ec_sii_general_flags_t general_flags; /**< General flags. */

    83

    int16_t current_on_ebus; /**< Power consumption in mA. */

    84

    85

    // SyncM

    86

    ec_sync_t *syncs; /**< SYNC MANAGER categories. */

    87

    unsigned int sync_count; /**< Number of sync managers. */

    88

    89

    // [RT]XPDO

    90

    struct list_head pdos; /**< SII [RT]XPDO categories. */

    91

} ec_sii_t;

    92

    93

/*****************************************************************************/

    94

    95

/** EtherCAT slave port information.

    96

 */

    97

typedef struct {

    98

    uint8_t dl_link; /**< Link detected. */

    99

    uint8_t dl_loop; /**< Loop closed. */

   100

    uint8_t dl_signal; /**< Detected signal on RX port. */

   101

} ec_slave_port_t;

   102

   103

/*****************************************************************************/

   104

   105

/** EtherCAT slave.

   106

 */

   107

struct ec_slave

   108

{

   109

    ec_master_t *master; /**< Master owning the slave. */

   110

   111

    // addresses

   112

    uint16_t ring_position; /**< Ring position. */

   113

    uint16_t station_address; /**< Configured station address. */

   114

   115

    // configuration

   116

    ec_slave_config_t *config; /**< Current configuration. */

   117

    ec_slave_state_t requested_state; /**< Requested application state. */

   118

    ec_slave_state_t current_state; /**< Current application state. */

   119

    unsigned int error_flag; /**< Stop processing after an error. */

   120

    unsigned int force_config; /**< Force (re-)configuration. */

   121

    uint16_t configured_rx_mailbox_offset;

   122

    uint16_t configured_rx_mailbox_size;

   123

    uint16_t configured_tx_mailbox_offset;

   124

    uint16_t configured_tx_mailbox_size;

   125

   126

    // base data

   127

    uint8_t base_type; /**< Slave type. */

   128

    uint8_t base_revision; /**< Revision. */

   129

    uint16_t base_build; /**< Build number. */

   130

    uint16_t base_fmmu_count; /**< Number of supported FMMUs. */

   131

   132

    // data link status

   133

    ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */

   134

   135

    // SII

   136

    uint16_t *sii_words; /**< Complete SII image. */

   137

    size_t sii_nwords; /**< Size of the SII contents in words. */

   138

   139

    // Slave information interface

   140

    ec_sii_t sii; /**< Extracted SII data. */

   141

   142

    struct list_head sdo_dictionary; /**< SDO dictionary list */

   143

    uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */

   144

    unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */

   145

};

   146

   147

/*****************************************************************************/

   148

   149

// slave construction/destruction

   150

void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);

   151

void ec_slave_clear(ec_slave_t *);

   152

   153

void ec_slave_clear_sync_managers(ec_slave_t *);

   154

   155

void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);

   156

void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);

   157

   158

// SII categories

   159

int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);

   160

int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);

   161

int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);

   162

int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,

   163

        ec_direction_t);

   164

   165

// misc.

   166

ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); 

   167

   168

void ec_slave_sdo_dict_info(const ec_slave_t *,

   169

        unsigned int *, unsigned int *);

   170

ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);

   171

const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);

   172

const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);

   173

uint16_t ec_slave_sdo_count(const ec_slave_t *);

   174

const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);

   175

void ec_slave_attach_pdo_names(ec_slave_t *);

   176

   177

/*****************************************************************************/

   178

   179

#endif