/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT slave structure.
*/
/*****************************************************************************/
#ifndef __EC_SLAVE_H__
#define __EC_SLAVE_H__
#include <linux/list.h>
#include <linux/kobject.h>
#include "globals.h"
#include "datagram.h"
#include "pdo.h"
#include "sync.h"
#include "sdo.h"
#include "fsm_slave.h"
#include "mailbox.h"
/*****************************************************************************/
/** Convenience macro for printing slave-specific information to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
* POSITION is the slave's ring position.
*
* \param slave EtherCAT slave
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#ifdef USE_TRACE_PRINTK
#define EC_SLAVE_INFO(slave, fmt, args...) \
do { \
__trace_printk(_THIS_IP_,"EtherCAT %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args); \
printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args); \
} while (0)
#else
#define EC_SLAVE_INFO(slave, fmt, args...) \
printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args)
#endif
/** Convenience macro for printing slave-specific errors to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
* POSITION is the slave's ring position.
*
* \param slave EtherCAT slave
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#ifdef USE_TRACE_PRINTK
#define EC_SLAVE_ERR(slave, fmt, args...) \
do { \
__trace_printk(_THIS_IP_,"EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args); \
printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args); \
} while (0)
#else
#define EC_SLAVE_ERR(slave, fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
slave->ring_position, ##args)
#endif
/** Convenience macro for printing slave-specific warnings to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
* POSITION is the slave's ring position.
*
* \param slave EtherCAT slave
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#ifdef USE_TRACE_PRINTK
#define EC_SLAVE_WARN(slave, fmt, args...) \
do { \
__trace_printk(_THIS_IP_,"EtherCAT WARNING %u-%u: " fmt, \
slave->master->index, slave->ring_position, ##args); \
printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
slave->master->index, slave->ring_position, ##args); \
} while (0)
#else
#define EC_SLAVE_WARN(slave, fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
slave->master->index, slave->ring_position, ##args)
#endif
/** Convenience macro for printing slave-specific debug messages to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
* POSITION is the slave's ring position.
*
* \param slave EtherCAT slave
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#ifdef USE_TRACE_PRINTK
#define EC_SLAVE_DBG(slave, level, fmt, args...) \
do { \
__trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u-%u: " fmt, \
level,slave->master->index, slave->ring_position, ##args); \
if (slave->master->debug_level >= level) { \
printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
slave->master->index, slave->ring_position, ##args); \
} \
} while (0)
#else
#define EC_SLAVE_DBG(slave, level, fmt, args...) \
do { \
if (slave->master->debug_level >= level) { \
printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
slave->master->index, slave->ring_position, ##args); \
} \
} while (0)
#endif
/*****************************************************************************/
/** Slave port.
*/
typedef struct {
ec_slave_port_desc_t desc; /**< Port descriptors. */
ec_slave_port_link_t link; /**< Port link status. */
ec_slave_t *next_slave; /**< Connected slaves. */
uint32_t receive_time; /**< Port receive times for delay
measurement. */
uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind
this port [ns]. */
} ec_slave_port_t;
/*****************************************************************************/
/** Slave information interface data.
*/
typedef struct {
// Non-category data
uint16_t alias; /**< Configured station alias. */
uint32_t vendor_id; /**< Vendor ID. */
uint32_t product_code; /**< Vendor-specific product code. */
uint32_t revision_number; /**< Revision number. */
uint32_t serial_number; /**< Serial number. */
uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */
uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */
uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */
uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */
uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */
uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */
uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */
uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */
uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
// Strings
char **strings; /**< Strings in SII categories. */
unsigned int string_count; /**< Number of SII strings. */
// General
unsigned int has_general; /**< General category present. */
char *group; /**< Group name. */
char *image; /**< Image name. */
char *order; /**< Order number. */
char *name; /**< Slave name. */
uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */
ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
ec_sii_general_flags_t general_flags; /**< General flags. */
int16_t current_on_ebus; /**< Power consumption in mA. */
// SyncM
ec_sync_t *syncs; /**< SYNC MANAGER categories. */
unsigned int sync_count; /**< Number of sync managers. */
// [RT]XPDO
struct list_head pdos; /**< SII [RT]XPDO categories. */
} ec_sii_t;
/*****************************************************************************/
/** EtherCAT slave.
*/
struct ec_slave
{
ec_master_t *master; /**< Master owning the slave. */
// addresses
uint16_t ring_position; /**< Ring position. */
uint16_t station_address; /**< Configured station address. */
uint16_t effective_alias; /**< Effective alias address. */
ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */
// configuration
ec_slave_config_t *config; /**< Current configuration. */
ec_slave_state_t requested_state; /**< Requested application state. */
ec_slave_state_t current_state; /**< Current application state. */
unsigned int error_flag; /**< Stop processing after an error. */
unsigned int force_config; /**< Force (re-)configuration. */
uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox
offset. */
uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size.
*/
uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox
offset. */
uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */
// base data
uint8_t base_type; /**< Slave type. */
uint8_t base_revision; /**< Revision. */
uint16_t base_build; /**< Build number. */
uint8_t base_fmmu_count; /**< Number of supported FMMUs. */
uint8_t base_sync_count; /**< Number of supported sync managers. */
uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */
uint8_t base_dc_supported; /**< Distributed clocks are supported. */
ec_slave_dc_range_t base_dc_range; /**< DC range. */
uint8_t has_dc_system_time; /**< The slave supports the DC system time
register. Otherwise it can only be used for
delay measurement. */
uint32_t transmission_delay; /**< DC system time transmission delay
(offset from reference clock). */
// SII
uint16_t *sii_words; /**< Complete SII image. */
size_t sii_nwords; /**< Size of the SII contents in words. */
// Slave information interface
ec_sii_t sii; /**< Extracted SII data. */
struct list_head sdo_dictionary; /**< SDO dictionary list */
uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
struct list_head slave_sdo_requests; /**< SDO access requests. */
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
from user space. */
struct list_head foe_requests; /**< FoE write requests. */
wait_queue_head_t foe_queue; /**< Wait queue for FoE requests from user
space. */
struct list_head soe_requests; /**< FoE write requests. */
wait_queue_head_t soe_queue; /**< Wait queue for SoE requests from user
space. */
ec_fsm_slave_t fsm; /**< Slave state machine. */
ec_datagram_t datagram; /** Datagram used for data transfers */
ec_mailbox_t mbox; /**< Mailbox used for data transfers. */
};
/*****************************************************************************/
// slave construction/destruction
void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
void ec_slave_clear(ec_slave_t *);
void ec_slave_clear_sync_managers(ec_slave_t *);
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
// SII categories
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
ec_direction_t);
// misc.
ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t);
void ec_slave_sdo_dict_info(const ec_slave_t *,
unsigned int *, unsigned int *);
ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
uint16_t ec_slave_sdo_count(const ec_slave_t *);
const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
void ec_slave_attach_pdo_names(ec_slave_t *);
void ec_slave_calc_port_delays(ec_slave_t *);
void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);
/*****************************************************************************/
#endif