master/master.h
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 07:14:00 +0000
changeset 1243 13cb18b91627
parent 1241 794cbccdcd00
child 1250 642048176899
permissions -rw-r--r--
Added changes since 1.4.0-rc2.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_MASTER_H__
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#define __EC_MASTER_H__
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#include <linux/list.h>
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#include <linux/timer.h>
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#include <linux/wait.h>
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#include <linux/kthread.h>
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#include <asm/semaphore.h>
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#include "device.h"
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#include "domain.h"
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#include "fsm_master.h"
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#include "cdev.h"
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/*****************************************************************************/
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/** EtherCAT master phase.
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 */
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typedef enum {
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    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
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                   attached. */
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    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
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               is not in use, yet. */
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    EC_OPERATION /**< Operation phase. The master was requested by a realtime
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                   application. */
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} ec_master_phase_t;
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/*****************************************************************************/
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/** Cyclic statistics.
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 */
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typedef struct {
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    unsigned int timeouts; /**< datagram timeouts */
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    unsigned int corrupted; /**< corrupted frames */
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    unsigned int unmatched; /**< unmatched datagrams (received, but not
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                               queued any longer) */
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    unsigned long output_jiffies; /**< time of last output */
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} ec_stats_t;
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/*****************************************************************************/
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/** EtherCAT master.
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 *
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 * Manages slaves, domains and IO.
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 */
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struct ec_master {
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    unsigned int index; /**< Index. */
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    unsigned int reserved; /**< \a True, if the master is in use. */
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    ec_cdev_t cdev; /**< Master character device. */
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    struct class_device *class_device; /**< Master class device. */
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    struct semaphore master_sem; /**< Master semaphore. */
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    ec_device_t main_device; /**< EtherCAT main device. */
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    const uint8_t *main_mac; /**< MAC address of main device. */
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    ec_device_t backup_device; /**< EtherCAT backup device. */
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    const uint8_t *backup_mac; /**< MAC address of backup device. */
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    struct semaphore device_sem; /**< Device semaphore. */
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    ec_fsm_master_t fsm; /**< Master state machine. */
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    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
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    ec_master_phase_t phase; /**< Master phase. */
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    unsigned int injection_seq_fsm; /**< Datagram injection sequence number
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                                      for the FSM side. */
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    unsigned int injection_seq_rt; /**< Datagram injection sequence number
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                                     for the realtime side. */
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    ec_slave_t *slaves; /**< Array of slaves on the bus. */
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    unsigned int slave_count; /**< Number of slaves on the bus. */
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    struct list_head configs; /**< List of slave configurations. */
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    unsigned int scan_busy; /**< Current scan state. */
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    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
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    struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
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                                 variable and the \a allow_scan flag. */
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    wait_queue_head_t scan_queue; /**< Queue for processes that wait for
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                                    slave scanning. */
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    unsigned int config_busy; /**< State of slave configuration. */
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    unsigned int allow_config; /**< \a True, if slave configuration is
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                                 allowed. */
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    struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
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                                   variable and the allow_config flag. */
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    wait_queue_head_t config_queue; /**< Queue for processes that wait for
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                                      slave configuration. */
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    struct list_head datagram_queue; /**< Datagram queue. */
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    uint8_t datagram_index; /**< Current datagram index. */
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    struct list_head domains; /**< List of domains. */
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    int debug_level; /**< Master debug level. */
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    ec_stats_t stats; /**< Cyclic statistics. */
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    unsigned int frames_timed_out; /**< There were frame timeouts in the last
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                                     call to ecrt_master_receive(). */
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    struct task_struct *thread; /**< Master thread. */
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#ifdef EC_EOE
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    struct timer_list eoe_timer; /**< EoE timer object. */
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    unsigned int eoe_running; /**< \a True, if EoE processing is active. */
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    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
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#endif
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    spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
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    int (*request_cb)(void *); /**< Lock request callback. */
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    void (*release_cb)(void *); /**< Lock release callback. */
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    void *cb_data; /**< Data parameter of locking callbacks. */
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    int (*ext_request_cb)(void *); /**< External lock request callback. */
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    void (*ext_release_cb)(void *); /**< External lock release callback. */
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    void *ext_cb_data; /**< Data parameter of external locking callbacks. */
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    struct list_head sii_requests; /**< SII write requests. */
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    wait_queue_head_t sii_queue; /**< Wait queue for SII
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                                      write requests from user space. */
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    struct list_head slave_sdo_requests; /**< Sdo access requests. */
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    wait_queue_head_t sdo_queue; /**< Wait queue for Sdo access requests
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                                   from user space. */
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    struct list_head phy_requests; /**< Physical memory requests. */
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    wait_queue_head_t phy_queue; /**< Wait queue for phy requests. */
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};
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/*****************************************************************************/
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// master creation/deletion
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int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
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        const uint8_t *, dev_t, struct class *);
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void ec_master_clear(ec_master_t *);
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// phase transitions
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int ec_master_enter_idle_phase(ec_master_t *);
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void ec_master_leave_idle_phase(ec_master_t *);
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int ec_master_enter_operation_phase(ec_master_t *);
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void ec_master_leave_operation_phase(ec_master_t *);
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ca805255a935 Prepared Free-Run mode
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#ifdef EC_EOE
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// EoE
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void ec_master_eoe_start(ec_master_t *);
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void ec_master_eoe_stop(ec_master_t *);
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#endif
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// datagram IO
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void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
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// misc.
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void ec_master_attach_slave_configs(ec_master_t *);
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ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
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const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
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        uint16_t);
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void ec_master_output_stats(ec_master_t *);
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#ifdef EC_EOE
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void ec_master_clear_eoe_handlers(ec_master_t *);
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#endif
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void ec_master_clear_slaves(ec_master_t *);
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unsigned int ec_master_config_count(const ec_master_t *);
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const ec_slave_config_t *ec_master_get_config_const(
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        const ec_master_t *, unsigned int);
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unsigned int ec_master_domain_count(const ec_master_t *);
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ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
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const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
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        unsigned int);
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int ec_master_debug_level(ec_master_t *, int);
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/*****************************************************************************/
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#endif