Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/******************************************************************************
*
* $Id$
*
* 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 domain structure.
*/
/*****************************************************************************/
#ifndef __EC_DOMAIN_H__
#define __EC_DOMAIN_H__
#include <linux/list.h>
#include "globals.h"
#include "datagram.h"
#include "master.h"
#include "fmmu_config.h"
/*****************************************************************************/
/** EtherCAT domain.
*
* Handles the process data and the therefore needed datagrams of a certain
* group of slaves.
*/
struct ec_domain
{
struct list_head list; /**< List item. */
ec_master_t *master; /**< EtherCAT master owning the domain. */
unsigned int index; /**< Index (just a number). */
struct list_head fmmu_configs; /**< FMMU configurations contained. */
size_t data_size; /**< Size of the process data. */
uint8_t *data; /**< Memory for the process data. */
ec_origin_t data_origin; /**< Origin of the \a data memory. */
uint32_t logical_base_address; /**< Logical offset address of the
process data. */
struct list_head datagram_pairs; /**< Datagrams pairs (main/backup) for
process data exchange. */
uint16_t working_counter[EC_MAX_NUM_DEVICES]; /**< Last working counter
values. */
uint16_t expected_working_counter; /**< Expected working counter. */
unsigned int working_counter_changes; /**< Working counter changes
since last notification. */
unsigned int redundancy_active; /**< Non-zero, if redundancy is in use. */
unsigned long notify_jiffies; /**< Time of last notification. */
uint32_t offset_used[EC_DIR_COUNT]; /**< Next available domain offset of
PDO, by direction */
const ec_slave_config_t *sc_in_work; /**< slave_config which is actively
being registered in this domain
(i.e. ecrt_slave_config_reg_pdo_entry() ) */
};
/*****************************************************************************/
void ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
void ec_domain_clear(ec_domain_t *);
void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);
int ec_domain_finish(ec_domain_t *, uint32_t);
unsigned int ec_domain_fmmu_count(const ec_domain_t *);
const ec_fmmu_config_t *ec_domain_find_fmmu(const ec_domain_t *, unsigned int);
/*****************************************************************************/
#endif