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 "../include/ecrt.h"

    48

    49

#include "globals.h"

    50

#include "datagram.h"

    51

#include "pdo.h"

    52

#include "sync.h"

    53

#include "fmmu.h"

    54

    55

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

    56

    57

/** maximum number of FMMUs per slave */

    58

#define EC_MAX_FMMUS 16

    59

    60

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

    61

    62

/**

    63

 * State of an EtherCAT slave.

    64

 */

    65

    66

typedef enum

    67

{

    68

    EC_SLAVE_STATE_UNKNOWN = 0x00,

    69

    /**< unknown state */

    70

    EC_SLAVE_STATE_INIT = 0x01,

    71

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

    72

    EC_SLAVE_STATE_PREOP = 0x02,

    73

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

    74

    EC_SLAVE_STATE_SAVEOP = 0x04,

    75

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

    76

    EC_SLAVE_STATE_OP = 0x08,

    77

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

    78

    EC_SLAVE_STATE_ACK_ERR = 0x10

    79

    /**< Acknowledge/Error bit (no actual state) */

    80

}

    81

ec_slave_state_t;

    82

    83

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

    84

    85

/**

    86

 */

    87

    88

typedef enum {

    89

    EC_SLAVE_OFFLINE,

    90

    EC_SLAVE_ONLINE

    91

}

    92

ec_slave_online_state_t;

    93

    94

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

    95

    96

/**

    97

 * Supported mailbox protocols.

    98

 */

    99

   100

enum

   101

{

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

};

   109

   110

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

   111

   112

/**

   113

 * EtherCAT slave.

   114

 */

   115

   116

struct ec_slave

   117

{

   118

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

   119

    struct kobject kobj; /**< kobject */

   120

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

   121

   122

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

   123

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

   124

    ec_slave_online_state_t online_state; /**< online state */

   125

    unsigned int self_configured; /**< slave was configured by this master */

   126

    unsigned int error_flag; /**< stop processing after an error */

   127

    unsigned int pdos_registered; /**< non-zero, if PDOs were registered */

   128

   129

    // addresses

   130

    uint16_t ring_position; /**< ring position */

   131

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

   132

   133

    // base data

   134

    uint8_t base_type; /**< slave type */

   135

    uint8_t base_revision; /**< revision */

   136

    uint16_t base_build; /**< build number */

   137

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

   138

   139

    // data link status

   140

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

   141

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

   142

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

   143

   144

    // EEPROM

   145

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

   146

    size_t eeprom_size; /**< size of the EEPROM contents in bytes */

   147

   148

    // slave information interface

   149

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

   150

    uint32_t sii_vendor_id; /**< vendor id */

   151

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

   152

    uint32_t sii_revision_number; /**< revision number */

   153

    uint32_t sii_serial_number; /**< serial number */

   154

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

   155

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

   156

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

   157

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

   158

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

   159

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

   160

    char **sii_strings; /**< strings in EEPROM categories */

   161

    unsigned int sii_string_count; /**< number of EEPROM strings */

   162

    ec_sync_t *sii_syncs; /**< EEPROM SYNC MANAGER categories */

   163

    unsigned int sii_sync_count; /**< number of sync managers in EEPROM */

   164

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

   165

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

   166

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

   167

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

   168

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

   169

    int16_t sii_current_on_ebus; /**< power consumption */

   170

   171

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

   172

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

   173

   174

    struct kobject sdo_kobj; /**< kobject for SDOs */

   175

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

   176

    struct list_head sdo_confs; /**< list of SDO configurations */

   177

    uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */

   178

    unsigned long jiffies_preop; /**< time, the slave went to PREOP */

   179

   180

    uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */

   181

};

   182

   183

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

   184

   185

// slave construction/destruction

   186

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

   187

void ec_slave_destroy(ec_slave_t *);

   188

   189

void ec_slave_reset(ec_slave_t *);

   190

   191

int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

   192

        const ec_sync_t *);

   193

   194

void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);

   195

void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);

   196

void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);

   197

   198

// SII categories

   199

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

   200

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

   201

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

   202

int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,

   203

        ec_pdo_type_t);

   204

   205

// misc.

   206

ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t); 

   207

int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);

   208

void ec_slave_sdo_dict_info(const ec_slave_t *,

   209

        unsigned int *, unsigned int *);

   210

ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);

   211

   212

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

   213

   214

#endif