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 domain structure.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_DOMAIN_H__

    42

#define __EC_DOMAIN_H__

    43

    44

#include <linux/list.h>

    45

#include <linux/kobject.h>

    46

    47

#include "globals.h"

    48

#include "datagram.h"

    49

#include "master.h"

    50

#include "fmmu_config.h"

    51

    52

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

    53

    54

/**

    55

   EtherCAT domain.

    56

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

    57

   group of slaves.

    58

*/

    59

    60

struct ec_domain

    61

{

    62

    struct kobject kobj; /**< kobject. */

    63

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

    64

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

    65

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

    66

    size_t data_size; /**< Size of the process data. */

    67

    unsigned int expected_working_counter; /**< Expected working counter. */

    68

    uint8_t *data; /**< Memory for the process data. */

    69

    ec_origin_t data_origin; /**< Origin of the \a data memory. */

    70

    struct list_head datagrams; /**< Datagrams for process data exchange. */

    71

    uint32_t logical_base_address; /**< Logical offset address of the

    72

                                     process data. */

    73

    unsigned int working_counter; /**< Last working counter value. */

    74

    unsigned int working_counter_changes; /**< Working counter changes

    75

                                             since last notification. */

    76

    unsigned long notify_jiffies; /**< Time of last notification. */

    77

};

    78

    79

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

    80

    81

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

    82

void ec_domain_destroy(ec_domain_t *);

    83

    84

void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);

    85

int ec_domain_finish(ec_domain_t *, uint32_t);

    86

    87

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

    88

    89

#endif