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

    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_SLAVE_STATE_ACK_ERR = 0x10

    71

    /**< Acknowledge/Error bit (no actual 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

}

   103

ec_sii_string_t;

   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

}

   120

ec_sii_sync_t;

   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

}

   133

ec_sii_pdo_type_t;

   134

   135

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

   136

   137

/**

   138

   PDO description (EEPROM).

   139

*/

   140

   141

typedef struct

   142

{

   143

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

   144

    ec_sii_pdo_type_t type; /**< PDO type */

   145

    uint16_t index; /**< PDO index */

   146

    uint8_t sync_index; /**< assigned sync manager */

   147

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

   148

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

   149

}

   150

ec_sii_pdo_t;

   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

}

   166

ec_sii_pdo_entry_t;

   167

   168

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

   169

   170

/**

   171

   FMMU configuration.

   172

*/

   173

   174

typedef struct

   175

{

   176

    unsigned int index; /**< FMMU index */

   177

    const ec_domain_t *domain; /**< domain */

   178

    const ec_sii_sync_t *sync; /**< sync manager */

   179

    uint32_t logical_start_address; /**< logical start address */

   180

}

   181

ec_fmmu_t;

   182

   183

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

   184

   185

/**

   186

   EtherCAT slave.

   187

*/

   188

   189

struct ec_slave

   190

{

   191

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

   192

    struct kobject kobj; /**< kobject */

   193

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

   194

   195

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

   196

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

   197

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

   198

    unsigned int online; /**< non-zero, if the slave responds. */

   199

    uint8_t registered; /**< true, if slave has been registered */

   200

   201

    // addresses

   202

    uint16_t ring_position; /**< ring position */

   203

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

   204

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

   205

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

   206

   207

    // base data

   208

    uint8_t base_type; /**< slave type */

   209

    uint8_t base_revision; /**< revision */

   210

    uint16_t base_build; /**< build number */

   211

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

   212

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

   213

   214

    // data link status

   215

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

   216

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

   217

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

   218

   219

    // EEPROM

   220

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

   221

    uint16_t eeprom_size; /**< size of the EEPROM contents in byte */

   222

    uint16_t *new_eeprom_data; /**< new EEPROM data to write */

   223

    uint16_t new_eeprom_size; /**< size of new EEPROM data in words */

   224

   225

    // slave information interface

   226

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

   227

    uint32_t sii_vendor_id; /**< vendor id */

   228

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

   229

    uint32_t sii_revision_number; /**< revision number */

   230

    uint32_t sii_serial_number; /**< serial number */

   231

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

   232

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

   233

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

   234

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

   235

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

   236

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

   237

    struct list_head sii_strings; /**< EEPROM STRING categories */

   238

    struct list_head sii_syncs; /**< EEPROM SYNC MANAGER categories */

   239

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

   240

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

   241

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

   242

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

   243

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

   244

   245

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

   246

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

   247

   248

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

   249

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

   250

};

   251

   252

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

   253

   254

// slave construction/destruction

   255

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

   256

   257

int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

   258

                          const ec_sii_sync_t *);

   259

   260

// SII categories

   261

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

   262

void ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

   263

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

   264

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

   265

                       ec_sii_pdo_type_t);

   266

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

   267

   268

// misc.

   269

uint16_t ec_slave_calc_sync_size(const ec_slave_t *,

   270

                                 const ec_sii_sync_t *);

   271

   272

int ec_slave_is_coupler(const ec_slave_t *);

   273

int ec_slave_has_subbus(const ec_slave_t *);

   274

   275

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

   276

   277

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

   278

   279

#endif