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; version 2 of the License.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

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

    19

 *  along 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

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

    23

    24

/**

    25

   \file

    26

   EtherCAT stave structure.

    27

*/

    28

    29

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

    30

    31

#ifndef _EC_SLAVE_H_

    32

#define _EC_SLAVE_H_

    33

    34

#include <linux/list.h>

    35

#include <linux/kobject.h>

    36

    37

#include "globals.h"

    38

#include "command.h"

    39

#include "types.h"

    40

    41

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

    42

    43

/**

    44

   State of an EtherCAT slave.

    45

*/

    46

    47

typedef enum

    48

{

    49

    EC_SLAVE_STATE_UNKNOWN = 0x00,

    50

    /**< unknown state */

    51

    EC_SLAVE_STATE_INIT = 0x01,

    52

    /**< INIT state (no mailbox communication, no IO) */

    53

    EC_SLAVE_STATE_PREOP = 0x02,

    54

    /**< PREOP state (mailbox communication, no IO) */

    55

    EC_SLAVE_STATE_SAVEOP = 0x04,

    56

    /**< SAVEOP (mailbox communication and input update) */

    57

    EC_SLAVE_STATE_OP = 0x08,

    58

    /**< OP (mailbox communication and input/output update) */

    59

    EC_ACK = 0x10

    60

    /**< Acknoledge bit (no state) */

    61

}

    62

ec_slave_state_t;

    63

    64

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

    65

    66

/**

    67

   Supported mailbox protocols.

    68

*/

    69

    70

enum

    71

{

    72

    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */

    73

    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */

    74

    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */

    75

    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */

    76

    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */

    77

    EC_MBOX_VOE = 0x20  /**< Vendor specific */

    78

};

    79

    80

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

    81

    82

/**

    83

   FMMU configuration.

    84

*/

    85

    86

typedef struct

    87

{

    88

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

    89

    const ec_sync_t *sync; /**< sync manager */

    90

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

    91

}

    92

ec_fmmu_t;

    93

    94

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

    95

    96

/**

    97

   String object (EEPROM).

    98

*/

    99

   100

typedef struct

   101

{

   102

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

   103

    size_t size; /**< size in bytes */

   104

    char *data; /**< string data */

   105

}

   106

ec_eeprom_string_t;

   107

   108

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

   109

   110

/**

   111

   Sync manager configuration (EEPROM).

   112

*/

   113

   114

typedef struct

   115

{

   116

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

   117

    unsigned int index; /**< sync manager index */

   118

    uint16_t physical_start_address; /**< physical start address */

   119

    uint16_t length; /**< data length in bytes */

   120

    uint8_t control_register; /**< control register value */

   121

    uint8_t enable; /**< enable bit */

   122

}

   123

ec_eeprom_sync_t;

   124

   125

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

   126

   127

/**

   128

   PDO type.

   129

*/

   130

   131

typedef enum

   132

{

   133

    EC_RX_PDO, /**< Reveive PDO */

   134

    EC_TX_PDO /**< Transmit PDO */

   135

}

   136

ec_pdo_type_t;

   137

   138

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

   139

   140

/**

   141

   PDO description (EEPROM).

   142

*/

   143

   144

typedef struct

   145

{

   146

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

   147

    ec_pdo_type_t type; /**< PDO type */

   148

    uint16_t index; /**< PDO index */

   149

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

   150

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

   151

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

   152

}

   153

ec_eeprom_pdo_t;

   154

   155

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

   156

   157

/**

   158

   PDO entry description (EEPROM).

   159

*/

   160

   161

typedef struct

   162

{

   163

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

   164

    uint16_t index; /**< PDO index */

   165

    uint8_t subindex; /**< entry subindex */

   166

    char *name; /**< entry name */

   167

    uint8_t bit_length; /**< entry length in bit */

   168

}

   169

ec_eeprom_pdo_entry_t;

   170

   171

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

   172

   173

/**

   174

   CANopen SDO.

   175

*/

   176

   177

typedef struct

   178

{

   179

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

   180

    uint16_t index; /**< SDO index */

   181

    //uint16_t type;

   182

    uint8_t object_code; /**< object code */

   183

    char *name; /**< SDO name */

   184

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

   185

}

   186

ec_sdo_t;

   187

   188

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

   189

   190

/**

   191

   CANopen SDO entry.

   192

*/

   193

   194

typedef struct

   195

{

   196

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

   197

    uint8_t subindex; /**< entry subindex */

   198

    uint16_t data_type; /**< entry data type */

   199

    uint16_t bit_length; /**< entry length in bit */

   200

    char *name; /**< entry name */

   201

}

   202

ec_sdo_entry_t;

   203

   204

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

   205

   206

/**

   207

   EtherCAT slave.

   208

*/

   209

   210

struct ec_slave

   211

{

   212

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

   213

    struct kobject kobj; /**< kobject */

   214

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

   215

   216

    // addresses

   217

    uint16_t ring_position; /**< ring position */

   218

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

   219

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

   220

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

   221

   222

    // base data

   223

    uint8_t base_type; /**< slave type */

   224

    uint8_t base_revision; /**< revision */

   225

    uint16_t base_build; /**< build number */

   226

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

   227

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

   228

   229

    // data link status

   230

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

   231

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

   232

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

   233

   234

    // slave information interface

   235

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

   236

    uint32_t sii_vendor_id; /**< vendor id */

   237

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

   238

    uint32_t sii_revision_number; /**< revision number */

   239

    uint32_t sii_serial_number; /**< serial number */

   240

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

   241

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

   242

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

   243

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

   244

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

   245

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

   246

   247

    const ec_slave_type_t *type; /**< pointer to slave type object */

   248

   249

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

   250

   251

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

   252

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

   253

   254

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

   255

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

   256

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

   257

   258

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

   259

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

   260

    char *eeprom_desc; /**< slave description acc. to EEPROM */

   261

   262

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

   263

   264

    ec_command_t mbox_command; /**< mailbox command */

   265

};

   266

   267

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

   268

   269

// slave construction/destruction

   270

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

   271

void ec_slave_clear(struct kobject *);

   272

   273

// slave control

   274

int ec_slave_fetch(ec_slave_t *);

   275

int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);

   276

int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);

   277

int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);

   278

int ec_slave_state_change(ec_slave_t *, uint8_t);

   279

int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

   280

                          const ec_sync_t *);

   281

   282

// CoE

   283

int ec_slave_fetch_sdo_list(ec_slave_t *);

   284

   285

// state machine

   286

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

   287

int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

   288

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

   289

int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);

   290

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

   291

   292

// misc.

   293

void ec_slave_print(const ec_slave_t *, unsigned int);

   294

int ec_slave_check_crc(ec_slave_t *);

   295

   296

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

   297

   298

#endif