master/master.h
author Florian Pose <fp@igh-essen.com>
Tue, 24 Oct 2006 08:41:39 +0000
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parent 430 74754f45d5fa
child 441 ffa13db95e10
permissions -rw-r--r--
Output state names instead of codes in change FSM.
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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 master structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_MASTER_H_
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#define _EC_MASTER_H_
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#include <linux/list.h>
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#include <linux/sysfs.h>
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#include <linux/timer.h>
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#include <linux/wait.h>
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#include <asm/atomic.h>
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#include <asm/semaphore.h>
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#include "device.h"
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#include "domain.h"
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#include "xmldev.h"
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#include "fsm.h"
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/*****************************************************************************/
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/**
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   EtherCAT master mode.
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*/
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typedef enum
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{
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    EC_MASTER_MODE_ORPHANED,
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    EC_MASTER_MODE_IDLE,
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    EC_MASTER_MODE_OPERATION
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}
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ec_master_mode_t;
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/*****************************************************************************/
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/**
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   Cyclic statistics.
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*/
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typedef struct
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{
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    unsigned int timeouts; /**< datagram timeouts */
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    unsigned int corrupted; /**< corrupted frames */
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    unsigned int skipped; /**< skipped datagrams (the ones that were
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                             requeued when not yet received) */
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    unsigned int unmatched; /**< unmatched datagrams (received, but not
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                               queued any longer) */
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    unsigned long output_jiffies; /**< time of last output */
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}
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ec_stats_t;
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/*****************************************************************************/
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/**
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   EtherCAT master.
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   Manages slaves, domains and IO.
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*/
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struct ec_master
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{
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    struct list_head list; /**< list item for module's master list */
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    atomic_t available; /**< zero, if the master is reserved for RT */
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    unsigned int index; /**< master index */
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    struct kobject kobj; /**< kobject */
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    ec_device_t *device; /**< EtherCAT device */
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    struct semaphore device_sem; /**< device semaphore */
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    ec_xmldev_t xmldev; /**< XML character device */
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    ec_fsm_t fsm; /**< master state machine */
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    ec_master_mode_t mode; /**< master mode */
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    struct list_head slaves; /**< list of slaves on the bus */
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    unsigned int slave_count; /**< number of slaves on the bus */
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    struct list_head datagram_queue; /**< datagram queue */
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    uint8_t datagram_index; /**< current datagram index */
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    struct list_head domains; /**< list of domains */
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    int debug_level; /**< master debug level */
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    ec_stats_t stats; /**< cyclic statistics */
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    struct workqueue_struct *workqueue; /**< master workqueue */
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    struct work_struct idle_work; /**< free run work object */
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    uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */
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    unsigned int idle_cycle_time_pos; /**< time ring buffer position */
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    struct timer_list eoe_timer; /**< EoE timer object */
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    uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */
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    unsigned int eoe_cycle_time_pos; /**< time ring buffer position */
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    unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
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    unsigned int eoe_checked; /**< non-zero, if EoE processing is not
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                                 necessary. */
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    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
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    spinlock_t internal_lock; /**< spinlock used in idle mode */
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    int (*request_cb)(void *); /**< lock request callback */
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    void (*release_cb)(void *); /**< lock release callback */
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    void *cb_data; /**< data parameter of locking callbacks */
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    uint8_t eeprom_write_enable; /**< allow write operations to EEPROMs */
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    struct list_head sdo_requests; /**< list of SDO read/write requests */
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    wait_queue_head_t sdo_wait_queue; /**< wait queue for SDO access */
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};
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/*****************************************************************************/
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// master creation and deletion
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int ec_master_init(ec_master_t *, unsigned int, unsigned int, dev_t);
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void ec_master_reset(ec_master_t *);
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// free run
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void ec_master_idle_start(ec_master_t *);
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void ec_master_idle_stop(ec_master_t *);
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// EoE
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void ec_master_eoe_start(ec_master_t *);
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void ec_master_eoe_stop(ec_master_t *);
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// IO
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void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
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// slave management
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int ec_master_bus_scan(ec_master_t *);
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// misc.
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void ec_master_output_stats(ec_master_t *);
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void ec_master_clear_slaves(ec_master_t *);
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int ec_master_measure_bus_time(ec_master_t *);
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// other methods
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void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *);
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void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);
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void ec_master_calc_addressing(ec_master_t *);
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void ec_master_flush_sdo_requests(ec_master_t *);
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/*****************************************************************************/
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#endif