/******************************************************************************
*
* $Id$
*
* 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/timer.h>
#include <linux/wait.h>
#include <asm/semaphore.h>
#include "device.h"
#include "domain.h"
#include "fsm_master.h"
#include "cdev.h"
/*****************************************************************************/
/** EtherCAT master phase.
*/
typedef enum {
EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
attached. */
EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
is not in use, yet. */
EC_OPERATION /**< Operation phase. The master was requested by a realtime
application. */
} ec_master_phase_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 {
unsigned int index; /**< Index. */
unsigned int reserved; /**< \a True, if the master is in use. */
ec_cdev_t cdev; /**< Master character device. */
struct class_device *class_device; /**< Master class device. */
struct semaphore master_sem; /**< Master semaphore. */
ec_device_t main_device; /**< EtherCAT main 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_phase_t phase; /**< Master phase. */
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. */
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
struct list_head configs; /**< List of slave configurations. */
unsigned int scan_busy; /**< Current scan state. */
unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
variable and the \a allow_scan flag. */
wait_queue_head_t scan_queue; /**< Queue for processes that wait for
slave scanning. */
unsigned int config_busy; /**< State of slave configuration. */
unsigned int allow_config; /**< \a True, if slave configuration is
allowed. */
struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
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 frames_timed_out; /**< There were frame timeouts in the last
call to ecrt_master_receive(). */
int thread_id; /**< Master thread PID. */
struct completion thread_can_terminate; /**< Thread termination completion
object. When stopping the
thread, it must be assured, that
it 'hears' a SIGTERM, therefore
the allow_singal() function must
have been called.
*/
struct completion thread_exit; /**< Thread completion object. */
#ifdef EC_EOE
struct timer_list eoe_timer; /**< EoE timer object. */
unsigned int eoe_running; /**< \a True, if EoE processing is active. */
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
#endif
spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
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 *); /**< External lock release callback. */
void *ext_cb_data; /**< Data parameter of external locking callbacks. */
struct list_head sii_requests; /**< SII write requests. */
wait_queue_head_t sii_queue; /**< Wait queue for SII
write requests from user space. */
struct list_head slave_sdo_requests; /**< 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 *, unsigned int, const uint8_t *,
const uint8_t *, dev_t, struct class *);
void ec_master_clear(ec_master_t *);
// phase transitions
int ec_master_enter_idle_phase(ec_master_t *);
void ec_master_leave_idle_phase(ec_master_t *);
int ec_master_enter_operation_phase(ec_master_t *);
void ec_master_leave_operation_phase(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.
void ec_master_attach_slave_configs(ec_master_t *);
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
uint16_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_clear_slaves(ec_master_t *);
unsigned int ec_master_config_count(const ec_master_t *);
const ec_slave_config_t *ec_master_get_config_const(
const ec_master_t *, unsigned int);
unsigned int ec_master_domain_count(const ec_master_t *);
ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
unsigned int);
int ec_master_debug_level(ec_master_t *, int);
/*****************************************************************************/
#endif