1

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

     2

 *

     3

 *  $Id$

     4

 *

    22

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

    23

    31

#ifndef _EC_DOMAIN_H_

    32

#define _EC_DOMAIN_H_

    33

    34

#include <linux/list.h>

    35

#include <linux/kobject.h>

    36

    37

#include "globals.h"

    38

#include "slave.h"

    39

#include "command.h"

    40

    41

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

    42

    43

/**

    44

   Data field registration type.

    45

*/

    46

    47

typedef struct

    48

{

    49

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

    50

    ec_slave_t *slave; /**< slave */

    51

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

    52

    uint32_t field_offset; /**< data field offset */

    53

    void **data_ptr; /**< pointer to process data pointer(s) */

    54

}

    55

ec_field_reg_t;

    56

    57

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

    58

    59

/**

    60

   EtherCAT domain.

    61

   Handles the process data and the therefore needed commands of a certain

    62

   group of slaves.

    63

*/

    64

    65

struct ec_domain

    66

{

    67

    struct kobject kobj; /**< kobject */

    68

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

    69

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

    70

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

    71

    size_t data_size; /**< size of the process data */

    72

    struct list_head commands; /**< process data commands */

    73

    uint32_t base_address; /**< logical offset address of the process data */

    74

    unsigned int response_count; /**< number of responding slaves */

    75

    struct list_head field_regs; /**< data field registrations */

    76

};

    77

    78

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

    79

    80

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

    81

void ec_domain_clear(struct kobject *);

    82

int ec_domain_alloc(ec_domain_t *, uint32_t);

    83

    84

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

    85

    86

#endif