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

    49

#include "globals.h"

    50

#include "datagram.h"

    51

    52

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

    53

    54

/**

    55

   State of an EtherCAT slave.

    56

*/

    57

    58

typedef enum

    59

{

    60

    EC_SLAVE_STATE_UNKNOWN = 0x00,

    61

    /**< unknown state */

    62

    EC_SLAVE_STATE_INIT = 0x01,

    63

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

    64

    EC_SLAVE_STATE_PREOP = 0x02,

    65

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

    66

    EC_SLAVE_STATE_SAVEOP = 0x04,

    67

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

    68

    EC_SLAVE_STATE_OP = 0x08,

    69

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

    70

    EC_ACK = 0x10

    71

    /**< Acknoledge bit (no state) */

    72

}

    73

ec_slave_state_t;

    74

    75

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

    76

    77

/**

    78

   Supported mailbox protocols.

    79

*/

    80

    81

enum

    82

{

    83

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

    84

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

    85

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

    86

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

    87

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

    88

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

    89

};

    90

    91

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

    92

    93

/**

    94

   String object (EEPROM).

    95

*/

    96

    97

typedef struct

    98

{

    99

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

   100

    size_t size; /**< size in bytes */

   101

    char *data; /**< string data */

   102

}

   104

   105

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

   106

   107

/**

   108

   Sync manager configuration (EEPROM).

   109

*/

   110

   111

typedef struct

   112

{

   113

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

   114

    unsigned int index; /**< sync manager index */

   115

    uint16_t physical_start_address; /**< physical start address */

   116

    uint16_t length; /**< data length in bytes */

   117

    uint8_t control_register; /**< control register value */

   118

    uint8_t enable; /**< enable bit */

   119

}

   121

   122

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

   123

   124

/**

   125

   PDO type.

   126

*/

   127

   128

typedef enum

   129

{

   130

    EC_RX_PDO, /**< Reveive PDO */

   131

    EC_TX_PDO /**< Transmit PDO */

   132

}

   134

   135

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

   136

   137

/**

   138

   PDO description (EEPROM).

   139

*/

   140

   141

typedef struct

   142

{

   143

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

   145

    uint16_t index; /**< PDO index */

   147

    char *name; /**< PDO name */

   148

    struct list_head entries; /**< entry list */

   149

}

   151

   152

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

   153

   154

/**

   155

   PDO entry description (EEPROM).

   156

*/

   157

   158

typedef struct

   159

{

   160

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

   161

    uint16_t index; /**< PDO index */

   162

    uint8_t subindex; /**< entry subindex */

   163

    char *name; /**< entry name */

   164

    uint8_t bit_length; /**< entry length in bit */

   165

}

   167

   168

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

   169

   170

/**

   171

   CANopen SDO.

   172

*/

   173

   174

typedef struct

   175

{

   176

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

   177

    uint16_t index; /**< SDO index */

   178

    uint8_t object_code; /**< object code */

   179

    char *name; /**< SDO name */

   180

    struct list_head entries; /**< entry list */

   181

}

   182

ec_sdo_t;

   183

   184

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

   185

   186

/**

   187

   CANopen SDO entry.

   188

*/

   189

   190

typedef struct

   191

{

   192

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

   193

    uint8_t subindex; /**< entry subindex */

   194

    uint16_t data_type; /**< entry data type */

   195

    uint16_t bit_length; /**< entry length in bit */

   196

    char *name; /**< entry name */

   197

}

   198

ec_sdo_entry_t;

   199

   200

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

   201

   202

/**

   217

   Variable-sized field information.

   218

*/

   219

   220

typedef struct

   221

{

   222

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

   224

    size_t size; /**< field size */

   225

}

   226

ec_varsize_t;

   227

   228

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

   229

   230

/**

   231

   EtherCAT slave.

   232

*/

   233

   234

struct ec_slave

   235

{

   236

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

   237

    struct kobject kobj; /**< kobject */

   238

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

   239

   246

    // addresses

   247

    uint16_t ring_position; /**< ring position */

   248

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

   249

    uint16_t coupler_index; /**< index of the last bus coupler */

   250

    uint16_t coupler_subindex; /**< index of this slave after last coupler */

   251

   252

    // base data

   253

    uint8_t base_type; /**< slave type */

   254

    uint8_t base_revision; /**< revision */

   255

    uint16_t base_build; /**< build number */

   256

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

   257

    uint16_t base_sync_count; /**< number of supported sync managers */

   258

   259

    // data link status

   260

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

   261

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

   262

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

   263

   270

    // slave information interface

   271

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

   272

    uint32_t sii_vendor_id; /**< vendor id */

   273

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

   274

    uint32_t sii_revision_number; /**< revision number */

   275

    uint32_t sii_serial_number; /**< serial number */

   276

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

   277

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

   278

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

   279

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

   280

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

   281

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

   289

   290

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

   291

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

   292

   293

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

   294

   295

    struct list_head varsize_fields; /**< size information for variable-sized

   296

                                        data fields. */

   297

};

   298

   299

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

   300

   301

// slave construction/destruction

   302

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

   303

void ec_slave_clear(struct kobject *);

   304

   305

int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

   307

   308

// CoE

   312

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

   314

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

   317

int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

   318

   319

// misc.

   322

   323

void ec_slave_print(const ec_slave_t *, unsigned int);

   326

   327

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

   328

   329

#endif