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 domain structure.

    33

*/

    34

    35

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

    36

    37

#ifndef __EC_DOMAIN_H__

    38

#define __EC_DOMAIN_H__

    39

    40

#include <linux/list.h>

    41

    42

#include "globals.h"

    43

#include "datagram.h"

    44

#include "master.h"

    45

#include "fmmu_config.h"

    46

    47

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

    48

    49

/** EtherCAT domain.

    50

 *

    51

 * Handles the process data and the therefore needed datagrams of a certain

    52

 * group of slaves.

    53

 */

    54

struct ec_domain

    55

{

    56

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

    57

    ec_master_t *master; /**< EtherCAT master owning the domain. */

    58

    unsigned int index; /**< Index (just a number). */

    59

    60

    struct list_head fmmu_configs; /**< FMMU configurations contained. */

    61

    size_t data_size; /**< Size of the process data. */

    62

    uint8_t *data; /**< Memory for the process data. */

    63

    ec_origin_t data_origin; /**< Origin of the \a data memory. */

    64

    uint32_t logical_base_address; /**< Logical offset address of the

    65

                                     process data. */

    66

    struct list_head datagram_pairs; /**< Datagrams pairs (main/backup) for

    67

                                       process data exchange. */

    68

    uint16_t working_counter[EC_MAX_NUM_DEVICES]; /**< Last working counter

    69

                                                values. */

    70

    uint16_t expected_working_counter; /**< Expected working counter. */

    71

    unsigned int working_counter_changes; /**< Working counter changes

    72

                                             since last notification. */

    73

    unsigned int redundancy_active; /**< Non-zero, if redundancy is in use. */

    74

    unsigned long notify_jiffies; /**< Time of last notification. */

    75

    uint32_t offset_used[EC_DIR_COUNT]; /**< Next available domain offset of

    76

        PDO, by direction */

    77

    const ec_slave_config_t *sc_in_work; /**< slave_config which is actively

    78

        being registered in this domain

    79

        (i.e. ecrt_slave_config_reg_pdo_entry() ) */

    80

};

    81

    82

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

    83

    84

void ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);

    85

void ec_domain_clear(ec_domain_t *);

    86

    87

void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);

    88

int ec_domain_finish(ec_domain_t *, uint32_t);

    89

    90

unsigned int ec_domain_fmmu_count(const ec_domain_t *);

    91

const ec_fmmu_config_t *ec_domain_find_fmmu(const ec_domain_t *, unsigned int);

    92

    93

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

    94

    95

#endif