master/domain.h
author Florian Pose <fp@igh-essen.com>
Mon, 29 May 2006 07:45:28 +0000
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parent 246 0bf7c769de06
child 293 14aeb79aa992
permissions -rw-r--r--
Updated TODO list.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_DOMAIN_H_
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#define _EC_DOMAIN_H_
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "globals.h"
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#include "slave.h"
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#include "command.h"
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/*****************************************************************************/
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/**
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   Data field registration type.
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*/
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typedef struct
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{
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    struct list_head list; /**< list item */
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    ec_slave_t *slave; /**< slave */
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    const ec_sync_t *sync; /**< sync manager */
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    uint32_t field_offset; /**< data field offset */
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    void **data_ptr; /**< pointer to process data pointer(s) */
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}
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ec_field_reg_t;
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/*****************************************************************************/
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/**
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   EtherCAT domain.
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   Handles the process data and the therefore needed commands of a certain
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   group of slaves.
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*/
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struct ec_domain
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{
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    struct kobject kobj; /**< kobject */
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    struct list_head list; /**< list item */
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    unsigned int index; /**< domain index (just a number) */
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    ec_master_t *master; /**< EtherCAT master owning the domain */
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    size_t data_size; /**< size of the process data */
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    struct list_head commands; /**< process data commands */
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    uint32_t base_address; /**< logical offset address of the process data */
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    unsigned int response_count; /**< number of responding slaves */
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    struct list_head field_regs; /**< data field registrations */
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};
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/*****************************************************************************/
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int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_clear(struct kobject *);
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int ec_domain_alloc(ec_domain_t *, uint32_t);
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/*****************************************************************************/
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#endif