/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 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
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* 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 right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT master structure.
*/
/*****************************************************************************/
#ifndef _EC_MASTER_H_
#define _EC_MASTER_H_
#include <linux/list.h>
#include <linux/sysfs.h>
#include <linux/timer.h>
#include <linux/wait.h>
#include <asm/semaphore.h>
#include "device.h"
#include "domain.h"
#include "fsm_master.h"
/*****************************************************************************/
/** EtherCAT master mode.
*/
typedef enum {
EC_MASTER_MODE_ORPHANED,
EC_MASTER_MODE_IDLE,
EC_MASTER_MODE_OPERATION
}
ec_master_mode_t;
/*****************************************************************************/
/** Cyclic statistics.
*/
typedef struct {
unsigned int timeouts; /**< datagram timeouts */
unsigned int corrupted; /**< corrupted frames */
unsigned int unmatched; /**< unmatched datagrams (received, but not
queued any longer) */
unsigned long output_jiffies; /**< time of last output */
}
ec_stats_t;
/*****************************************************************************/
/** EtherCAT master.
*
* Manages slaves, domains and IO.
*/
struct ec_master
{
struct kobject kobj; /**< kobject */
unsigned int index; /**< master index */
unsigned int reserved; /**< non-zero, if the master is reserved for RT */
ec_device_t main_device; /**< EtherCAT device */
const uint8_t *main_mac; /**< MAC address of main device */
ec_device_t backup_device; /**< EtherCAT backup device */
const uint8_t *backup_mac; /**< MAC address of backup device */
struct semaphore device_sem; /**< device semaphore */
ec_fsm_master_t fsm; /**< master state machine */
ec_datagram_t fsm_datagram; /**< datagram used for state machines */
ec_master_mode_t mode; /**< master mode */
unsigned int injection_seq_fsm; /**< datagram injection sequence number
for the FSM side */
unsigned int injection_seq_rt; /**< datagram injection sequence number
for the realtime side */
struct list_head slaves; /**< list of slaves on the bus */
unsigned int slave_count; /**< number of slaves on the bus */
struct list_head configs; /**< Bus configuration list. */
unsigned int configs_attached; /**< Slave configurations were attached. */
ec_request_state_t scan_state; /**< current scanning state */
unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */
struct semaphore scan_sem; /**< semaphore protecting the scan_state
variable and the allow_scan flag */
wait_queue_head_t scan_queue; /**< queue for processes that wait for
slave scanning */
ec_request_state_t config_state; /**< state of slave configuration */
unsigned int allow_config; /**< non-zero, if slave scanning is allowed */
struct semaphore config_sem; /**< semaphore protecting the config_state
variable and the allow_config flag */
wait_queue_head_t config_queue; /**< queue for processes that wait for
slave configuration */
struct list_head datagram_queue; /**< datagram queue */
uint8_t datagram_index; /**< current datagram index */
struct list_head domains; /**< list of domains */
int debug_level; /**< master debug level */
ec_stats_t stats; /**< cyclic statistics */
unsigned int pdo_slaves_offline; /**< number of slaves, for which Pdos
were registered and that are offline
(used for bus status) */
unsigned int frames_timed_out; /**< there were frame timeouts in the last
call to ecrt_master_receive() */
int thread_id; /**< master thread PID */
struct completion thread_exit; /**< thread completion object */
uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */
unsigned int idle_cycle_time_pos; /**< time ring buffer position */
#ifdef EC_EOE
struct timer_list eoe_timer; /**< EoE timer object */
unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */
unsigned int eoe_cycle_time_pos; /**< time ring buffer position */
#endif
spinlock_t internal_lock; /**< spinlock used in idle mode */
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
void *cb_data; /**< data parameter of locking callbacks */
int (*ext_request_cb)(void *); /**< external lock request callback */
void (*ext_release_cb)(void *); /**< externam lock release callback */
void *ext_cb_data; /**< data parameter of external locking callbacks */
struct list_head eeprom_requests; /**< EEPROM write requests */
struct semaphore eeprom_sem; /**< semaphore protecting the list of
EEPROM write requests */
wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM
write requests from user space */
struct list_head sdo_requests; /**< Sdo access requests */
struct semaphore sdo_sem; /**< semaphore protecting the list of
Sdo access requests */
wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests
from user space */
};
/*****************************************************************************/
// master creation/deletion
int ec_master_init(ec_master_t *, struct kobject *, unsigned int,
const uint8_t *, const uint8_t *);
void ec_master_clear(ec_master_t *);
// mode transitions
int ec_master_enter_idle_mode(ec_master_t *);
void ec_master_leave_idle_mode(ec_master_t *);
int ec_master_enter_operation_mode(ec_master_t *);
void ec_master_leave_operation_mode(ec_master_t *);
#ifdef EC_EOE
// EoE
void ec_master_eoe_start(ec_master_t *);
void ec_master_eoe_stop(ec_master_t *);
#endif
// datagram IO
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
// misc.
int ec_master_attach_slave_configs(ec_master_t *);
void ec_master_output_stats(ec_master_t *);
#ifdef EC_EOE
void ec_master_clear_eoe_handlers(ec_master_t *);
#endif
void ec_master_destroy_slaves(ec_master_t *);
/*****************************************************************************/
#endif