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 master structure.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_MASTER_H_

    42

#define _EC_MASTER_H_

    43

    44

#include <linux/list.h>

    45

#include <linux/sysfs.h>

    46

#include <linux/timer.h>

    47

    48

#include "device.h"

    49

#include "domain.h"

    50

#include "fsm.h"

    51

    52

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

    53

    54

/**

    55

   EtherCAT master mode.

    56

*/

    57

    58

typedef enum

    59

{

    60

    EC_MASTER_MODE_IDLE,

    61

    EC_MASTER_MODE_FREERUN,

    62

    EC_MASTER_MODE_RUNNING

    63

}

    64

ec_master_mode_t;

    65

    66

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

    67

    68

/**

    69

   Cyclic statistics.

    70

*/

    71

    72

typedef struct

    73

{

    74

    unsigned int timeouts; /**< datagram timeouts */

    75

    unsigned int delayed; /**< delayed datagrams */

    76

    unsigned int corrupted; /**< corrupted frames */

    77

    unsigned int unmatched; /**< unmatched datagrams */

    78

    cycles_t t_last; /**< time of last output */

    79

}

    80

ec_stats_t;

    81

    82

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

    83

    84

/**

    85

   EtherCAT master.

    86

   Manages slaves, domains and IO.

    87

*/

    88

    89

struct ec_master

    90

{

    91

    struct list_head list; /**< list item for module's master list */

    92

    unsigned int reserved; /**< non-zero, if the master is reserved for RT */

    93

    unsigned int index; /**< master index */

    94

    95

    struct kobject kobj; /**< kobject */

    96

    97

    struct list_head slaves; /**< list of slaves on the bus */

    98

    unsigned int slave_count; /**< number of slaves on the bus */

    99

   100

    ec_device_t *device; /**< EtherCAT device */

   101

   102

    struct list_head datagram_queue; /**< datagram queue */

   103

    uint8_t datagram_index; /**< current datagram index */

   104

   105

    struct list_head domains; /**< list of domains */

   106

   107

    ec_datagram_t simple_datagram; /**< datagram structure for initialization */

   108

    unsigned int timeout; /**< timeout in synchronous IO */

   109

   110

    int debug_level; /**< master debug level */

   111

    ec_stats_t stats; /**< cyclic statistics */

   112

   113

    struct workqueue_struct *workqueue; /**< master workqueue */

   114

    struct work_struct freerun_work; /**< free run work object */

   115

    ec_fsm_t fsm; /**< master state machine */

   116

    ec_master_mode_t mode; /**< master mode */

   117

   118

    struct timer_list eoe_timer; /**< EoE timer object */

   119

    unsigned int eoe_running; /**< non-zero, if EoE processing is active. */

   120

    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */

   121

    spinlock_t internal_lock; /**< spinlock used in freerun mode */

   122

    int (*request_cb)(void *); /**< lock request callback */

   123

    void (*release_cb)(void *); /**< lock release callback */

   124

    void *cb_data; /**< data parameter of locking callbacks */

   125

   126

    uint8_t eeprom_write_enable; /**< allow write operations to EEPROMs */

   127

};

   128

   129

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

   130

   131

// master creation and deletion

   132

int ec_master_init(ec_master_t *, unsigned int, unsigned int);

   133

void ec_master_clear(struct kobject *);

   134

void ec_master_reset(ec_master_t *);

   135

   136

// free run

   137

void ec_master_freerun_start(ec_master_t *);

   138

void ec_master_freerun_stop(ec_master_t *);

   139

   140

// EoE

   141

void ec_master_eoe_start(ec_master_t *);

   142

void ec_master_eoe_stop(ec_master_t *);

   143

   144

// IO

   145

void ec_master_receive(ec_master_t *, const uint8_t *, size_t);

   146

void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

   147

int ec_master_simple_io(ec_master_t *, ec_datagram_t *);

   148

   149

// slave management

   150

int ec_master_bus_scan(ec_master_t *);

   151

   152

// misc.

   153

void ec_master_clear_slaves(ec_master_t *);

   154

void ec_sync_config(const ec_sync_t *, const ec_slave_t *, uint8_t *);

   155

void ec_eeprom_sync_config(const ec_eeprom_sync_t *, const ec_slave_t *,

   156

                           uint8_t *);

   157

void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);

   158

void ec_master_output_stats(ec_master_t *);

   159

   160

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

   161

   162

#endif