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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; 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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/**

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   \file

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   EtherCAT master structure.

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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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   EtherCAT master mode.

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*/

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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 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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// 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_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