fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@2443:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@197:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@197:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@791:    EtherCAT slave structure.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@883: #ifndef __EC_SLAVE_H__
fp@883: #define __EC_SLAVE_H__
fp@0: 
fp@145: #include <linux/list.h>
fp@182: #include <linux/kobject.h>
fp@145: 
fp@145: #include "globals.h"
fp@293: #include "datagram.h"
fp@627: #include "pdo.h"
fp@628: #include "sync.h"
fp@847: #include "sdo.h"
martin@1583: #include "fsm_slave.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@1921: /** Convenience macro for printing slave-specific information to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
fp@1921:  * POSITION is the slave's ring position.
fp@1921:  *
fp@1921:  * \param slave EtherCAT slave
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_SLAVE_INFO(slave, fmt, args...) \
fp@1921:     printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
fp@1921:             slave->ring_position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing slave-specific errors to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
fp@1921:  * POSITION is the slave's ring position.
fp@1921:  *
fp@1921:  * \param slave EtherCAT slave
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_SLAVE_ERR(slave, fmt, args...) \
fp@1921:     printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
fp@1921:             slave->ring_position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing slave-specific warnings to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
fp@1921:  * POSITION is the slave's ring position.
fp@1921:  *
fp@1921:  * \param slave EtherCAT slave
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_SLAVE_WARN(slave, fmt, args...) \
fp@1921:     printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
fp@1921:             slave->master->index, slave->ring_position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing slave-specific debug messages to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
fp@1921:  * POSITION is the slave's ring position.
fp@1921:  *
fp@1921:  * \param slave EtherCAT slave
fp@2522:  * \param level Debug level. Master's debug level must be >= \a level for
fp@2522:  * output.
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_SLAVE_DBG(slave, level, fmt, args...) \
fp@1921:     do { \
fp@1921:         if (slave->master->debug_level >= level) { \
fp@1921:             printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
fp@1921:                     slave->master->index, slave->ring_position, ##args); \
fp@1921:         } \
fp@1921:     } while (0)
fp@1921: 
fp@1921: /*****************************************************************************/
fp@1921: 
fp@1425: /** Slave port.
fp@1425:  */
fp@1425: typedef struct {
fp@1425:     ec_slave_port_desc_t desc; /**< Port descriptors. */
fp@1425:     ec_slave_port_link_t link; /**< Port link status. */
fp@1425:     ec_slave_t *next_slave; /**< Connected slaves. */
fp@1425:     uint32_t receive_time; /**< Port receive times for delay
fp@1425:                                             measurement. */
fp@1425:     uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind
fp@1425:                                  this port [ns]. */
fp@1425: } ec_slave_port_t;
fp@1425: 
fp@1425: /*****************************************************************************/
fp@1425: 
fp@834: /** Slave information interface data.
fp@834:  */
fp@834: typedef struct {
fp@2421:     // Non-category data
fp@834:     uint16_t alias; /**< Configured station alias. */
fp@834:     uint32_t vendor_id; /**< Vendor ID. */
fp@834:     uint32_t product_code; /**< Vendor-specific product code. */
fp@834:     uint32_t revision_number; /**< Revision number. */
fp@834:     uint32_t serial_number; /**< Serial number. */
fp@1337:     uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */
fp@1337:     uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */
fp@1337:     uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */
fp@1337:     uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */
fp@1337:     uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */
fp@1337:     uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */
fp@1337:     uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */
fp@1337:     uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */
fp@834:     uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
fp@834: 
fp@834:     // Strings
fp@872:     char **strings; /**< Strings in SII categories. */
fp@1000:     unsigned int string_count; /**< Number of SII strings. */
fp@834: 
fp@834:     // General
fp@835:     unsigned int has_general; /**< General category present. */
fp@1000:     char *group; /**< Group name. */
fp@1000:     char *image; /**< Image name. */
fp@1000:     char *order; /**< Order number. */
fp@1000:     char *name; /**< Slave name. */
fp@1055:     uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */
fp@835:     ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
fp@836:     ec_sii_general_flags_t general_flags; /**< General flags. */
fp@1000:     int16_t current_on_ebus; /**< Power consumption in mA. */
fp@834: 
fp@834:     // SyncM
fp@1000:     ec_sync_t *syncs; /**< SYNC MANAGER categories. */
fp@1000:     unsigned int sync_count; /**< Number of sync managers. */
fp@834: 
fp@834:     // [RT]XPDO
fp@1000:     struct list_head pdos; /**< SII [RT]XPDO categories. */
fp@834: } ec_sii_t;
fp@834: 
fp@834: /*****************************************************************************/
fp@834: 
fp@792: /** EtherCAT slave.
fp@635:  */
fp@73: struct ec_slave
fp@73: {
fp@1000:     ec_master_t *master; /**< Master owning the slave. */
fp@2374:     ec_device_index_t device_index; /**< Index of device the slave responds
fp@2374:                                       on. */
fp@195: 
fp@195:     // addresses
fp@1000:     uint16_t ring_position; /**< Ring position. */
fp@1000:     uint16_t station_address; /**< Configured station address. */
fp@1909:     uint16_t effective_alias; /**< Effective alias address. */
fp@195: 
fp@1425:     ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */
fp@1425: 
fp@792:     // configuration
fp@792:     ec_slave_config_t *config; /**< Current configuration. */
fp@792:     ec_slave_state_t requested_state; /**< Requested application state. */
fp@792:     ec_slave_state_t current_state; /**< Current application state. */
fp@792:     unsigned int error_flag; /**< Stop processing after an error. */
fp@908:     unsigned int force_config; /**< Force (re-)configuration. */
fp@1465:     uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox
fp@1465:                                              offset. */
fp@1465:     uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size.
fp@1465:                                           */
fp@1465:     uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox
fp@1465:                                              offset. */
fp@1465:     uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */
fp@792: 
fp@195:     // base data
fp@1000:     uint8_t base_type; /**< Slave type. */
fp@1000:     uint8_t base_revision; /**< Revision. */
fp@1000:     uint16_t base_build; /**< Build number. */
fp@1379:     uint8_t base_fmmu_count; /**< Number of supported FMMUs. */
fp@1379:     uint8_t base_sync_count; /**< Number of supported sync managers. */
fp@1379:     uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */
fp@1379:     uint8_t base_dc_supported; /**< Distributed clocks are supported. */
fp@1379:     ec_slave_dc_range_t base_dc_range; /**< DC range. */
fp@1419:     uint8_t has_dc_system_time; /**< The slave supports the DC system time
fp@1419:                                   register. Otherwise it can only be used for
fp@1419:                                   delay measurement. */
fp@1426:     uint32_t transmission_delay; /**< DC system time transmission delay
fp@1426:                                    (offset from reference clock). */
fp@195: 
fp@872:     // SII
fp@977:     uint16_t *sii_words; /**< Complete SII image. */
fp@977:     size_t sii_nwords; /**< Size of the SII contents in words. */
fp@325: 
fp@1000:     // Slave information interface
fp@1000:     ec_sii_t sii; /**< Extracted SII data. */
fp@195: 
fp@1327:     struct list_head sdo_dictionary; /**< SDO dictionary list */
fp@1000:     uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
fp@1000:     unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
martin@1583: 
fp@2460:     struct list_head sdo_requests; /**< SDO access requests. */
fp@2443:     struct list_head reg_requests; /**< Register access requests. */
martin@1597:     struct list_head foe_requests; /**< FoE write requests. */
fp@2467:     struct list_head soe_requests; /**< SoE write requests. */
fp@2467: 
martin@1583:     ec_fsm_slave_t fsm; /**< Slave state machine. */
fp@73: };
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@195: // slave construction/destruction
fp@2374: void ec_slave_init(ec_slave_t *, ec_master_t *, ec_device_index_t,
fp@2374:         uint16_t, uint16_t);
fp@992: void ec_slave_clear(ec_slave_t *);
fp@73: 
fp@870: void ec_slave_clear_sync_managers(ec_slave_t *);
fp@870: 
fp@446: void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
fp@610: void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
fp@446: 
fp@325: // SII categories
fp@742: int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
fp@742: int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
fp@620: int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
fp@620: int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
fp@792:         ec_direction_t);
fp@238: 
fp@195: // misc.
fp@2421: ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t);
fp@1055: 
fp@423: void ec_slave_sdo_dict_info(const ec_slave_t *,
fp@635:         unsigned int *, unsigned int *);
fp@740: ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
fp@967: const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
fp@964: const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
fp@964: uint16_t ec_slave_sdo_count(const ec_slave_t *);
fp@799: const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
fp@1186: void ec_slave_attach_pdo_names(ec_slave_t *);
fp@423: 
fp@1425: void ec_slave_calc_port_delays(ec_slave_t *);
fp@1426: void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);
fp@1425: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: #endif