1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  Using the EtherCAT technology and brand is permitted in compliance with

    23

 *  the industrial property and similar rights of Beckhoff Automation GmbH.

    24

 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT master structure.

    30

*/

    31

    32

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

    33

    34

#ifndef __EC_MASTER_H__

    35

#define __EC_MASTER_H__

    36

    37

#include <linux/list.h>

    38

#include <linux/timer.h>

    39

#include <linux/wait.h>

    40

#include <linux/kthread.h>

    41

#include <asm/semaphore.h>

    42

    43

#include "device.h"

    44

#include "domain.h"

    45

#include "fsm_master.h"

    46

#include "cdev.h"

    47

    48

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

    49

    50

/** EtherCAT master phase.

    51

 */

    52

typedef enum {

    53

    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device

    54

                   attached. */

    55

    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master

    56

               is not in use, yet. */

    57

    EC_OPERATION /**< Operation phase. The master was requested by a realtime

    58

                   application. */

    59

} ec_master_phase_t;

    60

    61

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

    62

    63

/** Cyclic statistics.

    64

 */

    65

typedef struct {

    66

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

    67

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

    68

    unsigned int unmatched; /**< unmatched datagrams (received, but not

    69

                               queued any longer) */

    70

    unsigned long output_jiffies; /**< time of last output */

    71

} ec_stats_t;

    72

    73

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

    74

    75

/** EtherCAT master.

    76

 *

    77

 * Manages slaves, domains and IO.

    78

 */

    79

struct ec_master {

    80

    unsigned int index; /**< Index. */

    81

    unsigned int reserved; /**< \a True, if the master is in use. */

    82

    83

    ec_cdev_t cdev; /**< Master character device. */

    84

    struct class_device *class_device; /**< Master class device. */

    85

    struct semaphore master_sem; /**< Master semaphore. */

    86

    87

    ec_device_t main_device; /**< EtherCAT main device. */

    88

    const uint8_t *main_mac; /**< MAC address of main device. */

    89

    ec_device_t backup_device; /**< EtherCAT backup device. */

    90

    const uint8_t *backup_mac; /**< MAC address of backup device. */

    91

    struct semaphore device_sem; /**< Device semaphore. */

    92

    93

    ec_fsm_master_t fsm; /**< Master state machine. */

    94

    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */

    95

    ec_master_phase_t phase; /**< Master phase. */

    96

    unsigned int injection_seq_fsm; /**< Datagram injection sequence number

    97

                                      for the FSM side. */

    98

    unsigned int injection_seq_rt; /**< Datagram injection sequence number

    99

                                     for the realtime side. */

   100

   101

    ec_slave_t *slaves; /**< Array of slaves on the bus. */

   102

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

   103

   104

    struct list_head configs; /**< List of slave configurations. */

   105

   106

    unsigned int scan_busy; /**< Current scan state. */

   107

    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */

   108

    struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy

   109

                                 variable and the \a allow_scan flag. */

   110

    wait_queue_head_t scan_queue; /**< Queue for processes that wait for

   111

                                    slave scanning. */

   112

   113

    unsigned int config_busy; /**< State of slave configuration. */

   114

    unsigned int allow_config; /**< \a True, if slave configuration is

   115

                                 allowed. */

   116

    struct semaphore config_sem; /**< Semaphore protecting the \a config_busy

   117

                                   variable and the allow_config flag. */

   118

    wait_queue_head_t config_queue; /**< Queue for processes that wait for

   119

                                      slave configuration. */

   120

   121

    struct list_head datagram_queue; /**< Datagram queue. */

   122

    uint8_t datagram_index; /**< Current datagram index. */

   123

   124

    struct list_head domains; /**< List of domains. */

   125

   126

    int debug_level; /**< Master debug level. */

   127

    ec_stats_t stats; /**< Cyclic statistics. */

   128

    unsigned int frames_timed_out; /**< There were frame timeouts in the last

   129

                                     call to ecrt_master_receive(). */

   130

   131

    struct task_struct *thread; /**< Master thread. */

   132

   133

#ifdef EC_EOE

   134

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

   135

    unsigned int eoe_running; /**< \a True, if EoE processing is active. */

   136

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

   137

#endif

   138

   139

    spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */

   140

    int (*request_cb)(void *); /**< Lock request callback. */

   141

    void (*release_cb)(void *); /**< Lock release callback. */

   142

    void *cb_data; /**< Data parameter of locking callbacks. */

   143

    int (*ext_request_cb)(void *); /**< External lock request callback. */

   144

    void (*ext_release_cb)(void *); /**< External lock release callback. */

   145

    void *ext_cb_data; /**< Data parameter of external locking callbacks. */

   146

   147

    struct list_head sii_requests; /**< SII write requests. */

   148

    wait_queue_head_t sii_queue; /**< Wait queue for SII

   149

                                      write requests from user space. */

   150

   151

    struct list_head slave_sdo_requests; /**< SDO access requests. */

   152

    wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests

   153

                                   from user space. */

   154

};

   155

   156

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

   157

   158

// static funtions

   159

void ec_master_init_static(void);

   160

   161

// master creation/deletion

   162

int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,

   163

        const uint8_t *, dev_t, struct class *);

   164

void ec_master_clear(ec_master_t *);

   165

   166

// phase transitions

   167

int ec_master_enter_idle_phase(ec_master_t *);

   168

void ec_master_leave_idle_phase(ec_master_t *);

   169

int ec_master_enter_operation_phase(ec_master_t *);

   170

void ec_master_leave_operation_phase(ec_master_t *);

   171

   172

#ifdef EC_EOE

   173

// EoE

   174

void ec_master_eoe_start(ec_master_t *);

   175

void ec_master_eoe_stop(ec_master_t *);

   176

#endif

   177

   178

// datagram IO

   179

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

   180

void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

   181

   182

// misc.

   183

void ec_master_attach_slave_configs(ec_master_t *);

   184

ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);

   185

const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,

   186

        uint16_t);

   187

void ec_master_output_stats(ec_master_t *);

   188

#ifdef EC_EOE

   189

void ec_master_clear_eoe_handlers(ec_master_t *);

   190

#endif

   191

void ec_master_clear_slaves(ec_master_t *);

   192

   193

unsigned int ec_master_config_count(const ec_master_t *);

   194

const ec_slave_config_t *ec_master_get_config_const(

   195

        const ec_master_t *, unsigned int);

   196

unsigned int ec_master_domain_count(const ec_master_t *);

   197

ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);

   198

const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,

   199

        unsigned int);

   200

   201

int ec_master_debug_level(ec_master_t *, int);

   202

   203

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

   204

   205

#endif