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; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave structure.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_SLAVE_H__

    42

#define __EC_SLAVE_H__

    43

    44

#include <linux/list.h>

    45

#include <linux/kobject.h>

    46

    47

#include "../include/ecrt.h"

    48

    49

#include "globals.h"

    50

#include "datagram.h"

    51

#include "pdo.h"

    52

#include "sync.h"

    53

#include "sdo.h"

    54

    55

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

    56

    57

/** Slave information interface data.

    58

 */

    59

typedef struct {

    60

    // Non-category data 

    61

    uint16_t alias; /**< Configured station alias. */

    62

    uint32_t vendor_id; /**< Vendor ID. */

    63

    uint32_t product_code; /**< Vendor-specific product code. */

    64

    uint32_t revision_number; /**< Revision number. */

    65

    uint32_t serial_number; /**< Serial number. */

    66

    uint16_t rx_mailbox_offset; /**< Mailbox address (master to slave). */

    67

    uint16_t rx_mailbox_size; /**< Mailbox size (master to slave). */

    68

    uint16_t tx_mailbox_offset; /**< Mailbox address (slave to master). */

    69

    uint16_t tx_mailbox_size; /**< Mailbox size (slave to master). */

    70

    uint16_t mailbox_protocols; /**< Supported mailbox protocols. */

    71

    72

    // Strings

    73

    char **strings; /**< Strings in SII categories. */

    74

    unsigned int string_count; /**< Number of SII strings. */

    75

    76

    // General

    77

    unsigned int has_general; /**< General category present. */

    78

    char *group; /**< Group name. */

    79

    char *image; /**< Image name. */

    80

    char *order; /**< Order number. */

    81

    char *name; /**< Slave name. */

    82

    uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */

    83

    ec_sii_coe_details_t coe_details; /**< CoE detail flags. */

    84

    ec_sii_general_flags_t general_flags; /**< General flags. */

    85

    int16_t current_on_ebus; /**< Power consumption in mA. */

    86

    87

    // SyncM

    88

    ec_sync_t *syncs; /**< SYNC MANAGER categories. */

    89

    unsigned int sync_count; /**< Number of sync managers. */

    90

    91

    // [RT]XPDO

    92

    struct list_head pdos; /**< SII [RT]XPDO categories. */

    93

} ec_sii_t;

    94

    95

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

    96

    97

/** EtherCAT slave port information.

    98

 */

    99

typedef struct {

   100

    uint8_t dl_link; /**< Link detected. */

   101

    uint8_t dl_loop; /**< Loop closed. */

   102

    uint8_t dl_signal; /**< Detected signal on RX port. */

   103

} ec_slave_port_t;

   104

   105

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

   106

   107

/** EtherCAT slave.

   108

 */

   109

struct ec_slave

   110

{

   111

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

   112

   113

    // addresses

   114

    uint16_t ring_position; /**< Ring position. */

   115

    uint16_t station_address; /**< Configured station address. */

   116

   117

    // configuration

   118

    ec_slave_config_t *config; /**< Current configuration. */

   119

    ec_slave_state_t requested_state; /**< Requested application state. */

   120

    ec_slave_state_t current_state; /**< Current application state. */

   121

    unsigned int error_flag; /**< Stop processing after an error. */

   122

    unsigned int force_config; /**< Force (re-)configuration. */

   123

   124

    // base data

   125

    uint8_t base_type; /**< Slave type. */

   126

    uint8_t base_revision; /**< Revision. */

   127

    uint16_t base_build; /**< Build number. */

   128

    uint16_t base_fmmu_count; /**< Number of supported FMMUs. */

   129

   130

    // data link status

   131

    ec_slave_port_t ports[EC_MAX_PORTS];

   132

   133

    // SII

   134

    uint16_t *sii_words; /**< Complete SII image. */

   135

    size_t sii_nwords; /**< Size of the SII contents in words. */

   136

   137

    // Slave information interface

   138

    ec_sii_t sii; /**< Extracted SII data. */

   139

   140

    struct list_head sdo_dictionary; /**< Sdo dictionary list */

   141

    uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */

   142

    unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */

   143

};

   144

   145

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

   146

   147

// slave construction/destruction

   148

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

   149

void ec_slave_clear(ec_slave_t *);

   150

   151

void ec_slave_clear_sync_managers(ec_slave_t *);

   152

   153

void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);

   154

void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);

   155

   156

// SII categories

   157

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

   158

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

   159

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

   160

int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,

   161

        ec_direction_t);

   162

   163

// misc.

   164

ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); 

   165

   166

void ec_slave_sdo_dict_info(const ec_slave_t *,

   167

        unsigned int *, unsigned int *);

   168

ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);

   169

const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);

   170

const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);

   171

uint16_t ec_slave_sdo_count(const ec_slave_t *);

   172

const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);

   173

   174

int ec_slave_write_sii(ec_slave_t *, uint16_t, unsigned int,

   175

        const uint16_t *);

   176

   177

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

   178

   179

#endif