/******************************************************************************
*
* $Id$
*
* 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; version 2 of the License.
*
* 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
*
*****************************************************************************/
/**
\file
EtherCAT stave structure.
*/
/*****************************************************************************/
#ifndef _EC_SLAVE_H_
#define _EC_SLAVE_H_
#include <linux/list.h>
#include <linux/kobject.h>
#include "globals.h"
#include "command.h"
#include "types.h"
/*****************************************************************************/
/**
State of an EtherCAT slave.
*/
typedef enum
{
EC_SLAVE_STATE_UNKNOWN = 0x00,
/**< unknown state */
EC_SLAVE_STATE_INIT = 0x01,
/**< INIT state (no mailbox communication, no IO) */
EC_SLAVE_STATE_PREOP = 0x02,
/**< PREOP state (mailbox communication, no IO) */
EC_SLAVE_STATE_SAVEOP = 0x04,
/**< SAVEOP (mailbox communication and input update) */
EC_SLAVE_STATE_OP = 0x08,
/**< OP (mailbox communication and input/output update) */
EC_ACK = 0x10
/**< Acknoledge bit (no state) */
}
ec_slave_state_t;
/*****************************************************************************/
/**
Supported mailbox protocols.
*/
enum
{
EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
/*****************************************************************************/
/**
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;
/*****************************************************************************/
/**
Sync manager configuration (EEPROM).
*/
typedef struct
{
struct list_head list; /**< list item */
unsigned int index; /**< sync manager index */
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;
/*****************************************************************************/
/**
PDO type.
*/
typedef enum
{
EC_RX_PDO, /**< Reveive PDO */
EC_TX_PDO /**< Transmit PDO */
}
ec_pdo_type_t;
/*****************************************************************************/
/**
PDO description (EEPROM).
*/
typedef struct
{
struct list_head list; /**< list item */
ec_pdo_type_t type; /**< PDO type */
uint16_t index; /**< PDO index */
uint8_t sync_manager; /**< assigned sync manager */
char *name; /**< PDO name */
struct list_head entries; /**< entry list */
}
ec_eeprom_pdo_t;
/*****************************************************************************/
/**
PDO entry description (EEPROM).
*/
typedef struct
{
struct list_head list; /**< list item */
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;
/*****************************************************************************/
/**
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;
/*****************************************************************************/
/**
CANopen SDO entry.
*/
typedef struct
{
struct list_head list; /**< list item */
uint8_t subindex; /**< entry subindex */
uint16_t data_type; /**< entry data type */
uint16_t bit_length; /**< entry length in bit */
char *name; /**< entry name */
}
ec_sdo_entry_t;
/*****************************************************************************/
/**
EtherCAT slave.
*/
struct ec_slave
{
struct list_head list; /**< list item */
struct kobject kobj; /**< kobject */
ec_master_t *master; /**< master owning the slave */
// addresses
uint16_t ring_position; /**< ring position */
uint16_t station_address; /**< configured station address */
uint16_t coupler_index; /**< index of the last bus coupler */
uint16_t coupler_subindex; /**< index of this slave after last coupler */
// base data
uint8_t base_type; /**< slave type */
uint8_t base_revision; /**< revision */
uint16_t base_build; /**< build number */
uint16_t base_fmmu_count; /**< number of supported FMMUs */
uint16_t base_sync_count; /**< number of supported sync managers */
// 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 */
// 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 */
uint32_t sii_revision_number; /**< revision number */
uint32_t sii_serial_number; /**< serial number */
uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */
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 */
const ec_slave_type_t *type; /**< pointer to slave type object */
uint8_t registered; /**< true, if slave has been registered */
ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */
uint8_t fmmu_count; /**< number of FMMUs used */
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_name; /**< slave name acc. to EEPROM */
char *eeprom_group; /**< slave group acc. to EEPROM */
char *eeprom_desc; /**< slave description acc. to EEPROM */
struct list_head sdo_dictionary; /**< SDO directory list */
ec_command_t mbox_command; /**< mailbox command */
};
/*****************************************************************************/
// 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 *);
// CoE
int ec_slave_fetch_sdo_list(ec_slave_t *);
// misc.
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);
/*****************************************************************************/
#endif