1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master structure.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_MASTER_H_

    42

#define _EC_MASTER_H_

    43

    44

#include <linux/list.h>

    45

#include <linux/sysfs.h>

    46

#include <linux/timer.h>

    47

#include <linux/wait.h>

    48

#include <asm/semaphore.h>

    49

    50

#include "device.h"

    51

#include "domain.h"

    52

#include "fsm_master.h"

    53

    54

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

    55

    56

/** EtherCAT master mode.

    57

 */

    58

typedef enum {

    59

    EC_MASTER_MODE_ORPHANED,

    60

    EC_MASTER_MODE_IDLE,

    61

    EC_MASTER_MODE_OPERATION

    62

}

    63

ec_master_mode_t;

    64

    65

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

    66

    67

/** Cyclic statistics.

    68

 */

    69

typedef struct {

    70

    unsigned int timeouts; /**< datagram timeouts */

    71

    unsigned int corrupted; /**< corrupted frames */

    72

    unsigned int unmatched; /**< unmatched datagrams (received, but not

    73

                               queued any longer) */

    74

    unsigned long output_jiffies; /**< time of last output */

    75

}

    76

ec_stats_t;

    77

    78

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

    79

    80

/** EtherCAT master.

    81

 *

    82

 * Manages slaves, domains and IO.

    83

 */

    84

struct ec_master

    85

{

    86

    struct kobject kobj; /**< kobject */

    87

    unsigned int index; /**< master index */

    88

    unsigned int reserved; /**< non-zero, if the master is reserved for RT */

    89

    90

    ec_device_t main_device; /**< EtherCAT device */

    91

    const uint8_t *main_mac; /**< MAC address of main device */

    92

    ec_device_t backup_device; /**< EtherCAT backup device */

    93

    const uint8_t *backup_mac; /**< MAC address of backup device */

    94

    struct semaphore device_sem; /**< device semaphore */

    95

    96

    ec_fsm_master_t fsm; /**< master state machine */

    97

    ec_datagram_t fsm_datagram; /**< datagram used for state machines */

    98

    ec_master_mode_t mode; /**< master mode */

    99

    unsigned int injection_seq_fsm; /**< datagram injection sequence number

   100

                                      for the FSM side */

   101

    unsigned int injection_seq_rt; /**< datagram injection sequence number

   102

                                     for the realtime side */

   103

   104

    struct list_head slaves; /**< list of slaves on the bus */

   105

    unsigned int slave_count; /**< number of slaves on the bus */

   106

   107

    struct list_head configs; /**< Bus configuration list. */

   108

    unsigned int configs_attached; /**< Slave configurations were attached. */

   109

   110

    ec_request_state_t scan_state; /**< current scanning state */

   111

    unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */

   112

    struct semaphore scan_sem; /**< semaphore protecting the scan_state

   113

                                 variable and the allow_scan flag */

   114

    wait_queue_head_t scan_queue; /**< queue for processes that wait for

   115

                                    slave scanning */

   116

   117

    ec_request_state_t config_state; /**< state of slave configuration */

   118

    unsigned int allow_config; /**< non-zero, if slave scanning is allowed */

   119

    struct semaphore config_sem; /**< semaphore protecting the config_state

   120

                                   variable and the allow_config flag */

   121

    wait_queue_head_t config_queue; /**< queue for processes that wait for

   122

                                      slave configuration */

   123

   124

    struct list_head datagram_queue; /**< datagram queue */

   125

    uint8_t datagram_index; /**< current datagram index */

   126

   127

    struct list_head domains; /**< list of domains */

   128

   129

    int debug_level; /**< master debug level */

   130

    ec_stats_t stats; /**< cyclic statistics */

   131

    unsigned int pdo_slaves_offline; /**< number of slaves, for which PDOs

   132

                                       were registered and that are offline

   133

                                       (used for bus status) */

   134

    unsigned int frames_timed_out; /**< there were frame timeouts in the last

   135

                                     call to ecrt_master_receive() */

   136

   137

    int thread_id; /**< master thread PID */

   138

    struct completion thread_exit; /**< thread completion object */

   139

    uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */

   140

    unsigned int idle_cycle_time_pos; /**< time ring buffer position */

   141

   142

#ifdef EC_EOE

   143

    struct timer_list eoe_timer; /**< EoE timer object */

   144

    unsigned int eoe_running; /**< non-zero, if EoE processing is active. */

   145

    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */

   146

    uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */

   147

    unsigned int eoe_cycle_time_pos; /**< time ring buffer position */

   148

#endif

   149

   150

    spinlock_t internal_lock; /**< spinlock used in idle mode */

   151

    int (*request_cb)(void *); /**< lock request callback */

   152

    void (*release_cb)(void *); /**< lock release callback */

   153

    void *cb_data; /**< data parameter of locking callbacks */

   154

    int (*ext_request_cb)(void *); /**< external lock request callback */

   155

    void (*ext_release_cb)(void *); /**< externam lock release callback */

   156

    void *ext_cb_data; /**< data parameter of external locking callbacks */

   157

   158

    struct list_head eeprom_requests; /**< EEPROM write requests */

   159

    struct semaphore eeprom_sem; /**< semaphore protecting the list of

   160

                                   EEPROM write requests */

   161

    wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM

   162

                                      write requests from user space */

   163

   164

    struct list_head sdo_requests; /**< SDO access requests */

   165

    struct semaphore sdo_sem; /**< semaphore protecting the list of

   166

                                   SDO access requests */

   167

    wait_queue_head_t sdo_queue; /**< wait queue for SDO access requests

   168

                                   from user space */

   169

};

   170

   171

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

   172

   173

// master creation/deletion

   174

int ec_master_init(ec_master_t *, struct kobject *, unsigned int,

   175

        const uint8_t *, const uint8_t *);

   176

void ec_master_clear(ec_master_t *);

   177

   178

// mode transitions

   179

int ec_master_enter_idle_mode(ec_master_t *);

   180

void ec_master_leave_idle_mode(ec_master_t *);

   181

int ec_master_enter_operation_mode(ec_master_t *);

   182

void ec_master_leave_operation_mode(ec_master_t *);

   183

   184

#ifdef EC_EOE

   185

// EoE

   186

void ec_master_eoe_start(ec_master_t *);

   187

void ec_master_eoe_stop(ec_master_t *);

   188

#endif

   189

   190

// datagram IO

   191

void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);

   192

void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

   193

   194

// misc.

   195

int ec_master_attach_slave_configs(ec_master_t *);

   196

void ec_master_output_stats(ec_master_t *);

   197

#ifdef EC_EOE

   198

void ec_master_clear_eoe_handlers(ec_master_t *);

   199

#endif

   200

void ec_master_destroy_slaves(ec_master_t *);

   201

   202

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

   203

   204

#endif