author | Florian Pose <fp@igh-essen.com> |
Fri, 27 Oct 2006 10:41:02 +0000 | |
changeset 453 | 2ecaa53c6291 |
parent 448 | e4b76dc7910c |
child 499 | fb005e975181 |
permissions | -rw-r--r-- |
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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 stave structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef _EC_SLAVE_H_ |
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#define _EC_SLAVE_H_ |
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#include <linux/list.h> |
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#include <linux/kobject.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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#include "datagram.h" |
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/*****************************************************************************/ |
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/** |
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State of an EtherCAT slave. |
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*/ |
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typedef enum |
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{ |
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EC_SLAVE_STATE_UNKNOWN = 0x00, |
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/**< unknown state */ |
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EC_SLAVE_STATE_INIT = 0x01, |
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/**< INIT state (no mailbox communication, no IO) */ |
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EC_SLAVE_STATE_PREOP = 0x02, |
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/**< PREOP state (mailbox communication, no IO) */ |
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EC_SLAVE_STATE_SAVEOP = 0x04, |
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/**< SAVEOP (mailbox communication and input update) */ |
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EC_SLAVE_STATE_OP = 0x08, |
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/**< OP (mailbox communication and input/output update) */ |
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EC_SLAVE_STATE_ACK_ERR = 0x10 |
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/**< Acknowledge/Error bit (no actual state) */ |
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} |
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ec_slave_state_t; |
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/*****************************************************************************/ |
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/** |
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Supported mailbox protocols. |
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*/ |
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enum |
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{ |
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EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */ |
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EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */ |
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EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */ |
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EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */ |
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EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */ |
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EC_MBOX_VOE = 0x20 /**< Vendor specific */ |
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}; |
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/*****************************************************************************/ |
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/** |
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String object (EEPROM). |
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*/ |
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typedef struct |
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{ |
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struct list_head list; /**< list item */ |
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size_t size; /**< size in bytes */ |
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char *data; /**< string data */ |
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} |
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ec_sii_string_t; |
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/*****************************************************************************/ |
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/** |
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Sync manager configuration (EEPROM). |
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*/ |
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typedef struct |
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{ |
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struct list_head list; /**< list item */ |
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unsigned int index; /**< sync manager index */ |
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uint16_t physical_start_address; /**< physical start address */ |
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uint16_t length; /**< data length in bytes */ |
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uint8_t control_register; /**< control register value */ |
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uint8_t enable; /**< enable bit */ |
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uint16_t est_length; /**< Estimated length. This is no field of the SII, |
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but it is used to calculate the length via |
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PDO ranges */ |
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} |
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ec_sii_sync_t; |
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/*****************************************************************************/ |
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/** |
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PDO type. |
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*/ |
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typedef enum |
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{ |
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EC_RX_PDO, /**< Reveive PDO */ |
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EC_TX_PDO /**< Transmit PDO */ |
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} |
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ec_sii_pdo_type_t; |
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/*****************************************************************************/ |
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|
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/** |
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PDO description (EEPROM). |
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*/ |
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typedef struct |
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{ |
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struct list_head list; /**< list item */ |
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ec_sii_pdo_type_t type; /**< PDO type */ |
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uint16_t index; /**< PDO index */ |
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uint8_t sync_index; /**< assigned sync manager */ |
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char *name; /**< PDO name */ |
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struct list_head entries; /**< entry list */ |
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} |
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ec_sii_pdo_t; |
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/*****************************************************************************/ |
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/** |
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PDO entry description (EEPROM). |
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*/ |
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typedef struct |
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{ |
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struct list_head list; /**< list item */ |
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uint16_t index; /**< PDO index */ |
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uint8_t subindex; /**< entry subindex */ |
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char *name; /**< entry name */ |
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uint8_t bit_length; /**< entry length in bit */ |
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} |
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ec_sii_pdo_entry_t; |
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/*****************************************************************************/ |
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/** |
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FMMU configuration. |
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*/ |
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|
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typedef struct |
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{ |
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unsigned int index; /**< FMMU index */ |
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const ec_domain_t *domain; /**< domain */ |
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const ec_sii_sync_t *sync; /**< sync manager */ |
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uint32_t logical_start_address; /**< logical start address */ |
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} |
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ec_fmmu_t; |
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/*****************************************************************************/ |
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|
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/** |
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EtherCAT slave. |
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*/ |
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struct ec_slave |
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{ |
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struct list_head list; /**< list item */ |
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struct kobject kobj; /**< kobject */ |
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ec_master_t *master; /**< master owning the slave */ |
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ec_slave_state_t requested_state; /**< requested slave state */ |
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ec_slave_state_t current_state; /**< current slave state */ |
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unsigned int configured; /**< the slave was configured by this master */ |
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unsigned int error_flag; /**< stop processing after an error */ |
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unsigned int online; /**< non-zero, if the slave responds. */ |
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// addresses |
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uint16_t ring_position; /**< ring position */ |
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uint16_t station_address; /**< configured station address */ |
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uint16_t coupler_index; /**< index of the last bus coupler */ |
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uint16_t coupler_subindex; /**< index of this slave after last coupler */ |
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|
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// base data |
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uint8_t base_type; /**< slave type */ |
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uint8_t base_revision; /**< revision */ |
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uint16_t base_build; /**< build number */ |
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uint16_t base_fmmu_count; /**< number of supported FMMUs */ |
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uint16_t base_sync_count; /**< number of supported sync managers */ |
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|
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// data link status |
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uint8_t dl_link[4]; /**< link detected */ |
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uint8_t dl_loop[4]; /**< loop closed */ |
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uint8_t dl_signal[4]; /**< detected signal on RX port */ |
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// EEPROM |
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uint8_t *eeprom_data; /**< Complete EEPROM image */ |
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uint16_t eeprom_size; /**< size of the EEPROM contents in byte */ |
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uint16_t *new_eeprom_data; /**< new EEPROM data to write */ |
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uint16_t new_eeprom_size; /**< size of new EEPROM data in words */ |
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// slave information interface |
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uint16_t sii_alias; /**< configured station alias */ |
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uint32_t sii_vendor_id; /**< vendor id */ |
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uint32_t sii_product_code; /**< vendor's product code */ |
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uint32_t sii_revision_number; /**< revision number */ |
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uint32_t sii_serial_number; /**< serial number */ |
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uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */ |
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uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */ |
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uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */ |
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uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */ |
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uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */ |
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uint8_t sii_physical_layer[4]; /**< port media */ |
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struct list_head sii_strings; /**< EEPROM STRING categories */ |
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struct list_head sii_syncs; /**< EEPROM SYNC MANAGER categories */ |
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struct list_head sii_pdos; /**< EEPROM [RT]XPDO categories */ |
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char *sii_group; /**< slave group acc. to EEPROM */ |
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char *sii_image; /**< slave image name acc. to EEPROM */ |
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char *sii_order; /**< slave order number acc. to EEPROM */ |
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char *sii_name; /**< slave name acc. to EEPROM */ |
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|
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ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */ |
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uint8_t fmmu_count; /**< number of FMMUs used */ |
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|
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struct kobject sdo_kobj; /**< kobject for SDOs */ |
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struct list_head sdo_dictionary; /**< SDO dictionary list */ |
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struct list_head sdo_confs; /**< list of SDO configurations */ |
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uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */ |
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unsigned long jiffies_preop; /**< time, the slave went to PREOP */ |
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}; |
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|
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/*****************************************************************************/ |
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|
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// slave construction/destruction |
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int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); |
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void ec_slave_destroy(ec_slave_t *); |
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void ec_slave_reset(ec_slave_t *); |
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int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *, |
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const ec_sii_sync_t *); |
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void ec_slave_request_state(ec_slave_t *, ec_slave_state_t); |
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// SII categories |
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int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *); |
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void ec_slave_fetch_general(ec_slave_t *, const uint8_t *); |
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int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t); |
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int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, |
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ec_sii_pdo_type_t); |
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int ec_slave_locate_string(ec_slave_t *, unsigned int, char **); |
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// misc. |
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uint16_t ec_slave_calc_sync_size(const ec_slave_t *, |
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const ec_sii_sync_t *); |
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|
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int ec_slave_is_coupler(const ec_slave_t *); |
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int ec_slave_has_subbus(const ec_slave_t *); |
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int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t); |
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void ec_slave_sdo_dict_info(const ec_slave_t *, |
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unsigned int *, unsigned int *); |
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|
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/*****************************************************************************/ |
0 | 292 |
|
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#endif |