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

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master structure.

    33

*/

    34

    35

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

    36

    37

#ifndef __EC_MASTER_H__

    38

#define __EC_MASTER_H__

    39

    40

#include <linux/version.h>

    41

#include <linux/list.h>

    42

#include <linux/timer.h>

    43

#include <linux/wait.h>

    44

#include <linux/kthread.h>

    45

    46

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

    47

#include <linux/semaphore.h>

    48

#else

    49

#include <asm/semaphore.h>

    50

#endif

    51

    52

#include "device.h"

    53

#include "domain.h"

    54

#include "ethernet.h"

    55

#include "fsm_master.h"

    56

#include "cdev.h"

    57

    58

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

    59

    60

/** EtherCAT master phase.

    61

 */

    62

typedef enum {

    63

    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device

    64

                   attached. */

    65

    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master

    66

               is not in use, yet. */

    67

    EC_OPERATION /**< Operation phase. The master was requested by a realtime

    68

                   application. */

    69

} ec_master_phase_t;

    70

    71

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

    72

    73

/** Cyclic statistics.

    74

 */

    75

typedef struct {

    76

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

    77

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

    78

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

    79

                               queued any longer) */

    80

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

    81

} ec_stats_t;

    82

    83

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

    84

    85

/** EtherCAT master.

    86

 *

    87

 * Manages slaves, domains and IO.

    88

 */

    89

struct ec_master {

    90

    unsigned int index; /**< Index. */

    91

    unsigned int reserved; /**< \a True, if the master is in use. */

    92

    93

    ec_cdev_t cdev; /**< Master character device. */

    94

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

    95

    struct device *class_device; /**< Master class device. */

    96

#else

    97

    struct class_device *class_device; /**< Master class device. */

    98

#endif

    99

   100

    struct semaphore master_sem; /**< Master semaphore. */

   101

   102

    ec_device_t main_device; /**< EtherCAT main device. */

   103

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

   104

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

   105

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

   106

    struct semaphore device_sem; /**< Device semaphore. */

   107

   108

    ec_fsm_master_t fsm; /**< Master state machine. */

   109

    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */

   110

    ec_master_phase_t phase; /**< Master phase. */

   111

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

   112

                                      for the FSM side. */

   113

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

   114

                                     for the realtime side. */

   115

   116

    ec_slave_t *slaves; /**< Array of slaves on the bus. */

   117

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

   118

   119

    struct list_head configs; /**< List of slave configurations. */

   120

   121

    u64 app_time; /**< Time of the last ecrt_master_sync() call. */

   122

    u64 app_start_time; /**< Application start time. */

   123

    u8 has_start_time; /**< Start time already taken. */

   124

    ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the

   125

                                       reference clock to the master clock. */

   126

    ec_datagram_t sync_datagram; /**< Datagram used for DC drift

   127

                                   compensation. */

   128

    ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */

   129

   130

    unsigned int scan_busy; /**< Current scan state. */

   131

    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */

   132

    struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy

   133

                                 variable and the \a allow_scan flag. */

   134

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

   135

                                    slave scanning. */

   136

   137

    unsigned int config_busy; /**< State of slave configuration. */

   138

    unsigned int allow_config; /**< \a True, if slave configuration is

   139

                                 allowed. */

   140

    struct semaphore config_sem; /**< Semaphore protecting the \a config_busy

   141

                                   variable and the allow_config flag. */

   142

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

   143

                                      slave configuration. */

   144

   145

    struct list_head datagram_queue; /**< Datagram queue. */

   146

    uint8_t datagram_index; /**< Current datagram index. */

   147

   148

    struct list_head domains; /**< List of domains. */

   149

   150

    unsigned int debug_level; /**< Master debug level. */

   151

    ec_stats_t stats; /**< Cyclic statistics. */

   152

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

   153

                                     call to ecrt_master_receive(). */

   154

   155

    struct task_struct *thread; /**< Master thread. */

   156

   157

#ifdef EC_EOE

   158

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

   159

    unsigned int eoe_running; /**< \a True, if EoE processing is active. */

   160

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

   161

#endif

   162

   163

    spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */

   164

    int (*request_cb)(void *); /**< Lock request callback. */

   165

    void (*release_cb)(void *); /**< Lock release callback. */

   166

    void *cb_data; /**< Data parameter of locking callbacks. */

   167

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

   168

    void (*ext_release_cb)(void *); /**< External lock release callback. */

   169

    void *ext_cb_data; /**< Data parameter of external locking callbacks. */

   170

   171

    struct list_head sii_requests; /**< SII write requests. */

   172

    wait_queue_head_t sii_queue; /**< Wait queue for SII

   173

                                      write requests from user space. */

   174

   175

    struct list_head slave_sdo_requests; /**< SDO access requests. */

   176

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

   177

                                   from user space. */

   178

   179

    struct list_head reg_requests; /**< Register requests. */

   180

    wait_queue_head_t reg_queue; /**< Wait queue for register requests. */

   181

   182

    struct list_head foe_requests; /**< FoE write requests. */

   183

    wait_queue_head_t foe_queue; /**< Wait queue for FoE

   184

                                      write requests from user space. */

   185

};

   186

   187

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

   188

   189

// static funtions

   190

void ec_master_init_static(void);

   191

   192

// master creation/deletion

   193

int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,

   194

        const uint8_t *, dev_t, struct class *, unsigned int);

   195

void ec_master_clear(ec_master_t *);

   196

   197

// phase transitions

   198

int ec_master_enter_idle_phase(ec_master_t *);

   199

void ec_master_leave_idle_phase(ec_master_t *);

   200

int ec_master_enter_operation_phase(ec_master_t *);

   201

void ec_master_leave_operation_phase(ec_master_t *);

   202

   203

#ifdef EC_EOE

   204

// EoE

   205

void ec_master_eoe_start(ec_master_t *);

   206

void ec_master_eoe_stop(ec_master_t *);

   207

#endif

   208

   209

// datagram IO

   210

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

   211

void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

   212

   213

// misc.

   214

void ec_master_attach_slave_configs(ec_master_t *);

   215

ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);

   216

const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,

   217

        uint16_t);

   218

void ec_master_output_stats(ec_master_t *);

   219

#ifdef EC_EOE

   220

void ec_master_clear_eoe_handlers(ec_master_t *);

   221

#endif

   222

void ec_master_clear_slaves(ec_master_t *);

   223

   224

unsigned int ec_master_config_count(const ec_master_t *);

   225

ec_slave_config_t *ec_master_get_config(

   226

        const ec_master_t *, unsigned int);

   227

const ec_slave_config_t *ec_master_get_config_const(

   228

        const ec_master_t *, unsigned int);

   229

unsigned int ec_master_domain_count(const ec_master_t *);

   230

ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);

   231

const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,

   232

        unsigned int);

   233

uint16_t ec_master_eoe_handler_count(const ec_master_t *);

   234

const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);

   235

   236

int ec_master_debug_level(ec_master_t *, unsigned int);

   237

   238

ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);

   239

ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,

   240

        uint16_t, uint32_t, uint32_t);

   241

   242

void ec_master_calc_dc(ec_master_t *);

   243

   244

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

   245

   246

#endif