author | Florian Pose <fp@igh-essen.com> |
Fri, 21 Apr 2006 12:35:17 +0000 | |
changeset 197 | b9a6e2c22745 |
parent 195 | 674071846ee3 |
child 199 | 04ecf40fc2e9 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* m a s t e r . h |
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* |
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* EtherCAT master structure. |
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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; version 2 of the License. |
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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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*****************************************************************************/ |
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#ifndef _EC_MASTER_H_ |
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#define _EC_MASTER_H_ |
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#include <linux/list.h> |
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#include <linux/sysfs.h> |
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#include <linux/timer.h> |
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#include "device.h" |
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#include "domain.h" |
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/*****************************************************************************/ |
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/** |
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\defgroup Master EtherCAT master |
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Data types and functions of the EtherCAT master. |
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\{ |
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*/ |
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|
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/*****************************************************************************/ |
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/** |
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EtherCAT master mode. |
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typedef enum |
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{ |
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EC_MASTER_MODE_IDLE, |
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EC_MASTER_MODE_FREERUN, |
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EC_MASTER_MODE_RUNNING |
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} |
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ec_master_mode_t; |
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/*****************************************************************************/ |
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/** |
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Cyclic EtherCAT statistics. |
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*/ |
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typedef struct |
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{ |
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unsigned int timeouts; /**< command timeouts */ |
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unsigned int delayed; /**< delayed commands */ |
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unsigned int corrupted; /**< corrupted frames */ |
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unsigned int unmatched; /**< unmatched commands */ |
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unsigned int eoe_errors; /**< Ethernet-over-EtherCAT errors */ |
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cycles_t t_last; /**< time of last output */ |
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} |
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ec_stats_t; |
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/*****************************************************************************/ |
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/** |
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EtherCAT-Master. |
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Manages slaves, domains and IO. |
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*/ |
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struct ec_master |
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{ |
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struct list_head list; /**< list item */ |
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struct kobject kobj; /**< kobject */ |
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unsigned int index; /**< master index */ |
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struct list_head slaves; /**< list of slaves on the bus */ |
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unsigned int slave_count; /**< number of slaves on the bus */ |
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ec_device_t *device; /**< EtherCAT device */ |
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struct list_head command_queue; /**< command queue */ |
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uint8_t command_index; /**< current command index */ |
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struct list_head domains; /**< list of domains */ |
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ec_command_t simple_command; /**< command structure for initialization */ |
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ec_command_t watch_command; /**< command for watching the slaves */ |
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unsigned int slaves_responding; /**< number of responding slaves */ |
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ec_slave_state_t slave_states; /**< states of the responding slaves */ |
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int debug_level; /**< master debug level */ |
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ec_stats_t stats; /**< cyclic statistics */ |
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unsigned int timeout; /**< timeout in synchronous IO */ |
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struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */ |
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unsigned int reserved; /**< true, if the master is reserved for RT */ |
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struct timer_list freerun_timer; /**< timer object for free run mode */ |
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ec_master_mode_t mode; /**< master mode */ |
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}; |
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/** \} */ |
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/*****************************************************************************/ |
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// master creation and deletion |
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int ec_master_init(ec_master_t *, unsigned int); |
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void ec_master_clear(struct kobject *); |
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void ec_master_reset(ec_master_t *); |
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// free run |
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void ec_master_freerun_start(ec_master_t *); |
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void ec_master_freerun_stop(ec_master_t *); |
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// IO |
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void ec_master_receive(ec_master_t *, const uint8_t *, size_t); |
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void ec_master_queue_command(ec_master_t *, ec_command_t *); |
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int ec_master_simple_io(ec_master_t *, ec_command_t *); |
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// slave management |
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int ec_master_bus_scan(ec_master_t *); |
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// misc. |
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void ec_master_debug(const ec_master_t *); |
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void ec_master_output_stats(ec_master_t *); |
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void ec_master_run_eoe(ec_master_t *); |
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/*****************************************************************************/ |
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#endif |