etherlabmaster: comparison master/slave.h

equal deleted inserted replaced

-:9aa51cbdbfae
+:7833cf70c4f2
 #define _EC_SLAVE_H_
 #include <linux/list.h>
 #include <linux/kobject.h>
+#include "../include/ecrt.h"
 #include "globals.h"
 #include "datagram.h"
-#include "types.h"
 /*****************************************************************************/
 /**
 State of an EtherCAT slave.
 };
 /*****************************************************************************/
 /**
-FMMU configuration.
-*/
-typedef struct
-{
-const ec_domain_t *domain; /**< domain */
-const ec_sync_t *sync; /**< sync manager */
-uint32_t logical_start_address; /**< logical start address */
-}
-ec_fmmu_t;
-/*****************************************************************************/
-/**
 String object (EEPROM).
 */
 typedef struct
 {
 struct list_head list; /**< list item */
 size_t size; /**< size in bytes */
 char *data; /**< string data */
 }
-ec_eeprom_string_t;
+ec_sii_string_t;
 /*****************************************************************************/
 /**
 Sync manager configuration (EEPROM).
 uint16_t physical_start_address; /**< physical start address */
 uint16_t length; /**< data length in bytes */
 uint8_t control_register; /**< control register value */
 uint8_t enable; /**< enable bit */
 }
-ec_eeprom_sync_t;
+ec_sii_sync_t;
 /*****************************************************************************/
 /**
 PDO type.
 typedef enum
 {
 EC_RX_PDO, /**< Reveive PDO */
 EC_TX_PDO /**< Transmit PDO */
 }
-ec_pdo_type_t;
+ec_sii_pdo_type_t;
 /*****************************************************************************/
 /**
 PDO description (EEPROM).
 */
 typedef struct
 {
 struct list_head list; /**< list item */
-ec_pdo_type_t type; /**< PDO type */
+ec_sii_pdo_type_t type; /**< PDO type */
 uint16_t index; /**< PDO index */
-uint8_t sync_manager; /**< assigned sync manager */
+uint8_t sync_index; /**< assigned sync manager */
 char *name; /**< PDO name */
 struct list_head entries; /**< entry list */
 }
-ec_eeprom_pdo_t;
+ec_sii_pdo_t;
 /*****************************************************************************/
 /**
 PDO entry description (EEPROM).
 uint16_t index; /**< PDO index */
 uint8_t subindex; /**< entry subindex */
 char *name; /**< entry name */
 uint8_t bit_length; /**< entry length in bit */
 }
-ec_eeprom_pdo_entry_t;
+ec_sii_pdo_entry_t;
 /*****************************************************************************/
 /**
 CANopen SDO.
 typedef struct
 {
 struct list_head list; /**< list item */
 uint16_t index; /**< SDO index */
-//uint16_t type;
 uint8_t object_code; /**< object code */
 char *name; /**< SDO name */
 struct list_head entries; /**< entry list */
 }
 ec_sdo_t;
 ec_sdo_entry_t;
 /*****************************************************************************/
 /**
+FMMU configuration.
+*/
+typedef struct
+{
+const ec_domain_t *domain; /**< domain */
+const ec_sii_sync_t *sync; /**< sync manager */
+uint32_t logical_start_address; /**< logical start address */
+}
+ec_fmmu_t;
+/*****************************************************************************/
+/**
 Variable-sized field information.
 */
 typedef struct
 {
 struct list_head list; /**< list item */
-const ec_field_t *field; /**< data field */
+const ec_sii_pdo_t *pdo; /**< PDO */
 size_t size; /**< field size */
 }
 ec_varsize_t;
 /*****************************************************************************/
 struct ec_slave
 {
 struct list_head list; /**< list item */
 struct kobject kobj; /**< kobject */
 ec_master_t *master; /**< master owning the slave */
+ec_slave_state_t requested_state; /**< requested slave state */
+ec_slave_state_t current_state; /**< current slave state */
+unsigned int error_flag; /**< stop processing after an error */
+unsigned int online; /**< non-zero, if the slave responds. */
+uint8_t registered; /**< true, if slave has been registered */
 // addresses
 uint16_t ring_position; /**< ring position */
 uint16_t station_address; /**< configured station address */
 uint16_t coupler_index; /**< index of the last bus coupler */
 // data link status
 uint8_t dl_link[4]; /**< link detected */
 uint8_t dl_loop[4]; /**< loop closed */
 uint8_t dl_signal[4]; /**< detected signal on RX port */
+// EEPROM
+uint8_t *eeprom_data; /**< Complete EEPROM image */
+uint16_t eeprom_size; /**< size of the EEPROM contents in byte */
+uint16_t *new_eeprom_data; /**< new EEPROM data to write */
+uint16_t new_eeprom_size; /**< size of new EEPROM data in words */
 // slave information interface
 uint16_t sii_alias; /**< configured station alias */
 uint32_t sii_vendor_id; /**< vendor id */
 uint32_t sii_product_code; /**< vendor's product code */
 uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */
 uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */
 uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */
 uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */
 uint8_t sii_physical_layer[4]; /**< port media */
+struct list_head sii_strings; /**< EEPROM STRING categories */
-const ec_slave_type_t *type; /**< pointer to slave type object */
+struct list_head sii_syncs; /**< EEPROM SYNC MANAGER categories */
+struct list_head sii_pdos; /**< EEPROM [RT]XPDO categories */
-uint8_t registered; /**< true, if slave has been registered */
+char *sii_group; /**< slave group acc. to EEPROM */
+char *sii_image; /**< slave image name acc. to EEPROM */
+char *sii_order; /**< slave order number acc. to EEPROM */
+char *sii_name; /**< slave name acc. to EEPROM */
 ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */
 uint8_t fmmu_count; /**< number of FMMUs used */
-uint8_t *eeprom_data; /**< Complete EEPROM image */
-uint16_t eeprom_size; /**< size of the EEPROM contents in byte */
-struct list_head eeprom_strings; /**< EEPROM STRING categories */
-struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */
-struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */
-char *eeprom_group; /**< slave group acc. to EEPROM */
-char *eeprom_image; /**< slave image name acc. to EEPROM */
-char *eeprom_order; /**< slave order number acc. to EEPROM */
-char *eeprom_name; /**< slave name acc. to EEPROM */
-uint16_t *new_eeprom_data; /**< new EEPROM data to write */
-size_t new_eeprom_size; /**< size of new EEPROM data in words */
 struct list_head sdo_dictionary; /**< SDO directory list */
-ec_slave_state_t requested_state; /**< requested slave state */
-ec_slave_state_t current_state; /**< current slave state */
-unsigned int error_flag; /**< stop processing after an error */
-unsigned int online; /**< non-zero, if the slave responds. */
 struct list_head varsize_fields; /**< size information for variable-sized
 data fields. */
 };
 // slave construction/destruction
 int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
 void ec_slave_clear(struct kobject *);
-// slave control
-int ec_slave_fetch(ec_slave_t *);
-int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);
-int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);
-int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);
-int ec_slave_state_change(ec_slave_t *, uint8_t);
 int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
-const ec_sync_t *);
+const ec_sii_sync_t *);
 // CoE
-int ec_slave_fetch_sdo_list(ec_slave_t *);
+//int ec_slave_fetch_sdo_list(ec_slave_t *);
-// state machine
+// SII categories
 int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
-int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
+void ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
 int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
-int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
+int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t,
+ec_sii_pdo_type_t);
 int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
 // misc.
-size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
+uint16_t ec_slave_calc_sync_size(const ec_slave_t *,
-uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *,
+const ec_sii_sync_t *);
-const ec_eeprom_sync_t *);
 void ec_slave_print(const ec_slave_t *, unsigned int);
-int ec_slave_check_crc(ec_slave_t *);
+int ec_slave_is_coupler(const ec_slave_t *);
+//int ec_slave_check_crc(ec_slave_t *);
 /*****************************************************************************/
 #endif

changeset 325	7833cf70c4f2
parent 298	d491d1f84ebc
child 329	d004349777fc