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 stave structure.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_SLAVE_H_

    42

#define _EC_SLAVE_H_

    43

    44

#include <linux/list.h>

    45

#include <linux/kobject.h>

    46

    47

#include "globals.h"

    48

#include "command.h"

    49

#include "types.h"

    50

    51

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

    52

    53

/**

    54

   State of an EtherCAT slave.

    55

*/

    56

    57

typedef enum

    58

{

    59

    EC_SLAVE_STATE_UNKNOWN = 0x00,

    60

    /**< unknown state */

    61

    EC_SLAVE_STATE_INIT = 0x01,

    62

    /**< INIT state (no mailbox communication, no IO) */

    63

    EC_SLAVE_STATE_PREOP = 0x02,

    64

    /**< PREOP state (mailbox communication, no IO) */

    65

    EC_SLAVE_STATE_SAVEOP = 0x04,

    66

    /**< SAVEOP (mailbox communication and input update) */

    67

    EC_SLAVE_STATE_OP = 0x08,

    68

    /**< OP (mailbox communication and input/output update) */

    69

    EC_ACK = 0x10

    70

    /**< Acknoledge bit (no state) */

    71

}

    72

ec_slave_state_t;

    73

    74

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

    75

    76

/**

    77

   Supported mailbox protocols.

    78

*/

    79

    80

enum

    81

{

    82

    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */

    83

    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */

    84

    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */

    85

    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */

    86

    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */

    87

    EC_MBOX_VOE = 0x20  /**< Vendor specific */

    88

};

    89

    90

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

    91

    92

/**

    93

   FMMU configuration.

    94

*/

    95

    96

typedef struct

    97

{

    98

    const ec_domain_t *domain; /**< domain */

    99

    const ec_sync_t *sync; /**< sync manager */

   100

    uint32_t logical_start_address; /**< logical start address */

   101

}

   102

ec_fmmu_t;

   103

   104

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

   105

   106

/**

   107

   String object (EEPROM).

   108

*/

   109

   110

typedef struct

   111

{

   112

    struct list_head list; /**< list item */

   113

    size_t size; /**< size in bytes */

   114

    char *data; /**< string data */

   115

}

   116

ec_eeprom_string_t;

   117

   118

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

   119

   120

/**

   121

   Sync manager configuration (EEPROM).

   122

*/

   123

   124

typedef struct

   125

{

   126

    struct list_head list; /**< list item */

   127

    unsigned int index; /**< sync manager index */

   128

    uint16_t physical_start_address; /**< physical start address */

   129

    uint16_t length; /**< data length in bytes */

   130

    uint8_t control_register; /**< control register value */

   131

    uint8_t enable; /**< enable bit */

   132

}

   133

ec_eeprom_sync_t;

   134

   135

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

   136

   137

/**

   138

   PDO type.

   139

*/

   140

   141

typedef enum

   142

{

   143

    EC_RX_PDO, /**< Reveive PDO */

   144

    EC_TX_PDO /**< Transmit PDO */

   145

}

   146

ec_pdo_type_t;

   147

   148

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

   149

   150

/**

   151

   PDO description (EEPROM).

   152

*/

   153

   154

typedef struct

   155

{

   156

    struct list_head list; /**< list item */

   157

    ec_pdo_type_t type; /**< PDO type */

   158

    uint16_t index; /**< PDO index */

   159

    uint8_t sync_manager; /**< assigned sync manager */

   160

    char *name; /**< PDO name */

   161

    struct list_head entries; /**< entry list */

   162

}

   163

ec_eeprom_pdo_t;

   164

   165

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

   166

   167

/**

   168

   PDO entry description (EEPROM).

   169

*/

   170

   171

typedef struct

   172

{

   173

    struct list_head list; /**< list item */

   174

    uint16_t index; /**< PDO index */

   175

    uint8_t subindex; /**< entry subindex */

   176

    char *name; /**< entry name */

   177

    uint8_t bit_length; /**< entry length in bit */

   178

}

   179

ec_eeprom_pdo_entry_t;

   180

   181

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

   182

   183

/**

   184

   CANopen SDO.

   185

*/

   186

   187

typedef struct

   188

{

   189

    struct list_head list; /**< list item */

   190

    uint16_t index; /**< SDO index */

   191

    //uint16_t type;

   192

    uint8_t object_code; /**< object code */

   193

    char *name; /**< SDO name */

   194

    struct list_head entries; /**< entry list */

   195

}

   196

ec_sdo_t;

   197

   198

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

   199

   200

/**

   201

   CANopen SDO entry.

   202

*/

   203

   204

typedef struct

   205

{

   206

    struct list_head list; /**< list item */

   207

    uint8_t subindex; /**< entry subindex */

   208

    uint16_t data_type; /**< entry data type */

   209

    uint16_t bit_length; /**< entry length in bit */

   210

    char *name; /**< entry name */

   211

}

   212

ec_sdo_entry_t;

   213

   214

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

   215

   216

/**

   217

   EtherCAT slave.

   218

*/

   219

   220

struct ec_slave

   221

{

   222

    struct list_head list; /**< list item */

   223

    struct kobject kobj; /**< kobject */

   224

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

   225

   226

    // addresses

   227

    uint16_t ring_position; /**< ring position */

   228

    uint16_t station_address; /**< configured station address */

   229

    uint16_t coupler_index; /**< index of the last bus coupler */

   230

    uint16_t coupler_subindex; /**< index of this slave after last coupler */

   231

   232

    // base data

   233

    uint8_t base_type; /**< slave type */

   234

    uint8_t base_revision; /**< revision */

   235

    uint16_t base_build; /**< build number */

   236

    uint16_t base_fmmu_count; /**< number of supported FMMUs */

   237

    uint16_t base_sync_count; /**< number of supported sync managers */

   238

   239

    // data link status

   240

    uint8_t dl_link[4]; /**< link detected */

   241

    uint8_t dl_loop[4]; /**< loop closed */

   242

    uint8_t dl_signal[4]; /**< detected signal on RX port */

   243

   244

    // slave information interface

   245

    uint16_t sii_alias; /**< configured station alias */

   246

    uint32_t sii_vendor_id; /**< vendor id */

   247

    uint32_t sii_product_code; /**< vendor's product code */

   248

    uint32_t sii_revision_number; /**< revision number */

   249

    uint32_t sii_serial_number; /**< serial number */

   250

    uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */

   251

    uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */

   252

    uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */

   253

    uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */

   254

    uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */

   255

    uint8_t sii_physical_layer[4]; /**< port media */

   256

   257

    const ec_slave_type_t *type; /**< pointer to slave type object */

   258

   259

    uint8_t registered; /**< true, if slave has been registered */

   260

   261

    ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */

   262

    uint8_t fmmu_count; /**< number of FMMUs used */

   263

   264

    uint8_t *eeprom_data; /**< Complete EEPROM image */

   265

    uint16_t eeprom_size; /**< size of the EEPROM contents in byte */

   266

    struct list_head eeprom_strings; /**< EEPROM STRING categories */

   267

    struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */

   268

    struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */

   269

    char *eeprom_group; /**< slave group acc. to EEPROM */

   270

    char *eeprom_image; /**< slave image name acc. to EEPROM */

   271

    char *eeprom_order; /**< slave order number acc. to EEPROM */

   272

    char *eeprom_name; /**< slave name acc. to EEPROM */

   273

   274

    uint16_t *new_eeprom_data; /**< new EEPROM data to write */

   275

    size_t new_eeprom_size; /**< size of new EEPROM data in words */

   276

   277

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

   278

   279

    ec_command_t mbox_command; /**< mailbox command */

   280

   281

    ec_slave_state_t requested_state; /**< requested slave state */

   282

    ec_slave_state_t current_state; /**< current slave state */

   283

    unsigned int state_error; /**< a state error has happened */

   284

    unsigned int online; /**< non-zero, if the slave responds. */

   285

};

   286

   287

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

   288

   289

// slave construction/destruction

   290

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

   291

void ec_slave_clear(struct kobject *);

   292

   293

// slave control

   294

int ec_slave_fetch(ec_slave_t *);

   295

int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);

   296

int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);

   297

int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);

   298

int ec_slave_state_change(ec_slave_t *, uint8_t);

   299

int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

   300

                          const ec_sync_t *);

   301

   302

// CoE

   303

int ec_slave_fetch_sdo_list(ec_slave_t *);

   304

   305

// state machine

   306

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

   307

int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

   308

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

   309

int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);

   310

int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

   311

   312

// misc.

   313

void ec_slave_print(const ec_slave_t *, unsigned int);

   314

int ec_slave_check_crc(ec_slave_t *);

   315

   316

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

   317

   318

#endif