master/slave_config.h
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2620 0e4d098db815
permissions -rwxr-xr-x
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave configuration structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_SLAVE_CONFIG_H__
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#define __EC_SLAVE_CONFIG_H__
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#include <linux/list.h>
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#include "globals.h"
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#include "slave.h"
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#include "sync_config.h"
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#include "fmmu_config.h"
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#include "coe_emerg_ring.h"
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/*****************************************************************************/
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/** Convenience macro for printing configuration-specific information to
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 * syslog.
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 *
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 * This will print the message in \a fmt with a prefixed
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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
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 * and ALIAS and POSITION identify the configuration.
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 *
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 * \param sc EtherCAT slave configuration
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_CONFIG_INFO(sc, fmt, args...) \
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    printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
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            sc->alias, sc->position, ##args)
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/** Convenience macro for printing configuration-specific errors to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed
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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
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 * and ALIAS and POSITION identify the configuration.
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 *
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 * \param sc EtherCAT slave configuration
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_CONFIG_ERR(sc, fmt, args...) \
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    printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
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            sc->alias, sc->position, ##args)
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/** Convenience macro for printing configuration-specific warnings to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed
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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
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 * and ALIAS and POSITION identify the configuration.
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 *
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 * \param sc EtherCAT slave configuration
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_CONFIG_WARN(sc, fmt, args...) \
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    printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
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            sc->master->index, sc->alias, sc->position, ##args)
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/** Convenience macro for printing configuration-specific debug messages to
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 * syslog.
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 *
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 * This will print the message in \a fmt with a prefixed
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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
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 * and ALIAS and POSITION identify the configuration.
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 *
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 * \param sc EtherCAT slave configuration
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 * \param level Debug level. Master's debug level must be >= \a level for
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 * output.
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_CONFIG_DBG(sc, level, fmt, args...) \
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    do { \
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        if (sc->master->debug_level >= level) { \
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            printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \
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                    sc->master->index, sc->alias, sc->position, ##args); \
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        } \
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    } while (0)
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/*****************************************************************************/
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/** EtherCAT slave configuration.
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 */
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struct ec_slave_config {
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    struct list_head list; /**< List item. */
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    ec_master_t *master; /**< Master owning the slave configuration. */
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    uint16_t alias; /**< Slave alias. */
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    uint16_t position; /**< Index after alias. If alias is zero, this is the
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                         ring position. */
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    uint32_t vendor_id; /**< Slave vendor ID. */
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    uint32_t product_code; /**< Slave product code. */
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    uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
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                                 intervals (see spec. reg. 0x0400). */
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    uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
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                                   spec. reg. 0x0420). */
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    uint8_t allow_overlapping_pdos;	/**< Allow input PDOs use the same frame space
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                                      as output PDOs. */
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    ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
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                         offline. */
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    ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; /**< Sync manager
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                                                   configurations. */
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    ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
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    uint8_t used_fmmus; /**< Number of FMMUs used. */
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    uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
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    ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; /**< DC sync signals. */
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    struct list_head sdo_configs; /**< List of SDO configurations. */
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    struct list_head sdo_requests; /**< List of SDO requests. */
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    struct list_head voe_handlers; /**< List of VoE handlers. */
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    struct list_head reg_requests; /**< List of register requests. */
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    struct list_head soe_configs; /**< List of SoE configurations. */
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    ec_coe_emerg_ring_t emerg_ring; /**< CoE emergency ring buffer. */
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};
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/*****************************************************************************/
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void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
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        uint16_t, uint32_t, uint32_t);
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void ec_slave_config_clear(ec_slave_config_t *);
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int ec_slave_config_attach(ec_slave_config_t *);
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void ec_slave_config_detach(ec_slave_config_t *);
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void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
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unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
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const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
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        const ec_slave_config_t *, unsigned int);
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unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
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const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
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        const ec_slave_config_t *, unsigned int);
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ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
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        unsigned int);
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ec_reg_request_t *ec_slave_config_find_reg_request(ec_slave_config_t *,
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        unsigned int);
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ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
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        unsigned int);
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void ec_slave_config_expire_disconnected_requests(ec_slave_config_t *);
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ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
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        ec_slave_config_t *, uint16_t, uint8_t, size_t);
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ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
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        ec_slave_config_t *, size_t);
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ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
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        ec_slave_config_t *, size_t);
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/*****************************************************************************/
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#endif