author | Florian Pose <fp@igh-essen.com> |
Wed, 19 Jul 2006 13:18:35 +0000 | |
changeset 307 | ffec9aae50a5 |
parent 306 | 45886de3db87 |
child 325 | 7833cf70c4f2 |
permissions | -rw-r--r-- |
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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 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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#include "fsm.h" |
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/*****************************************************************************/ |
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/** |
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EtherCAT master mode. |
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typedef enum |
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{ |
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EC_MASTER_MODE_ORPHANED, |
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EC_MASTER_MODE_IDLE, |
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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; /**< datagram timeouts */ |
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unsigned int delayed; /**< delayed datagrams */ |
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unsigned int corrupted; /**< corrupted frames */ |
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unsigned int unmatched; /**< unmatched datagrams */ |
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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 for module's master list */ |
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unsigned int reserved; /**< non-zero, if the master is reserved for RT */ |
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unsigned int index; /**< master index */ |
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struct kobject kobj; /**< kobject */ |
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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 datagram_queue; /**< datagram queue */ |
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uint8_t datagram_index; /**< current datagram index */ |
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struct list_head domains; /**< list of domains */ |
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ec_datagram_t simple_datagram; /**< datagram structure for |
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initialization */ |
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unsigned int timeout; /**< timeout in synchronous IO */ |
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int debug_level; /**< master debug level */ |
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ec_stats_t stats; /**< cyclic statistics */ |
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struct workqueue_struct *workqueue; /**< master workqueue */ |
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struct work_struct idle_work; /**< free run work object */ |
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ec_fsm_t fsm; /**< master state machine */ |
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ec_master_mode_t mode; /**< master mode */ |
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struct timer_list eoe_timer; /**< EoE timer object */ |
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unsigned int eoe_running; /**< non-zero, if EoE processing is active. */ |
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struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */ |
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spinlock_t internal_lock; /**< spinlock used in idle mode */ |
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int (*request_cb)(void *); /**< lock request callback */ |
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void (*release_cb)(void *); /**< lock release callback */ |
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void *cb_data; /**< data parameter of locking callbacks */ |
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uint8_t eeprom_write_enable; /**< allow write operations to EEPROMs */ |
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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, 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_idle_start(ec_master_t *); |
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void ec_master_idle_stop(ec_master_t *); |
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// EoE |
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void ec_master_eoe_start(ec_master_t *); |
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void ec_master_eoe_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_datagram(ec_master_t *, ec_datagram_t *); |
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int ec_master_simple_io(ec_master_t *, ec_datagram_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_clear_slaves(ec_master_t *); |
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void ec_sync_config(const ec_sync_t *, const ec_slave_t *, uint8_t *); |
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void ec_eeprom_sync_config(const ec_eeprom_sync_t *, const ec_slave_t *, |
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uint8_t *); |
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void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *); |
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void ec_master_output_stats(ec_master_t *); |
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/*****************************************************************************/ |
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#endif |