master/domain.h
author Florian Pose <fp@igh-essen.com>
Mon, 01 Sep 2008 14:18:35 +0000
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child 1326 ef907b0b5125
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NEWS.
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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; either version 2 of the
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 *  License, or (at your option) any later version.
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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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_DOMAIN_H__
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#define __EC_DOMAIN_H__
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#include <linux/list.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "fmmu_config.h"
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/*****************************************************************************/
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/** EtherCAT domain.
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 *
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 * Handles the process data and the therefore needed datagrams of a certain
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 * group of slaves.
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 */
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struct ec_domain
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{
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    struct list_head list; /**< List item. */
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    ec_master_t *master; /**< EtherCAT master owning the domain. */
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    unsigned int index; /**< Index (just a number). */
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    struct list_head fmmu_configs; /**< FMMU configurations contained. */
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    size_t data_size; /**< Size of the process data. */
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    uint8_t *data; /**< Memory for the process data. */
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    ec_origin_t data_origin; /**< Origin of the \a data memory. */
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    uint32_t logical_base_address; /**< Logical offset address of the
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                                     process data. */
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    struct list_head datagrams; /**< Datagrams for process data exchange. */
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    uint16_t working_counter; /**< Last working counter value. */
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    uint16_t expected_working_counter; /**< Expected working counter. */
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    unsigned int working_counter_changes; /**< Working counter changes
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                                             since last notification. */
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    unsigned long notify_jiffies; /**< Time of last notification. */
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};
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/*****************************************************************************/
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void ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_clear(ec_domain_t *);
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void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);
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int ec_domain_finish(ec_domain_t *, uint32_t);
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unsigned int ec_domain_fmmu_count(const ec_domain_t *);
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const ec_fmmu_config_t *ec_domain_find_fmmu(const ec_domain_t *, unsigned int);
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/*****************************************************************************/
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#endif