fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1618:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1618:  *
fp@1618:  *  This file is part of the IgH EtherCAT Master.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1618:  *  and/or modify it under the terms of the GNU General Public License
fp@1619:  *  as published by the Free Software Foundation; either version 2 of the
fp@1619:  *  License, or (at your option) any later version.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1618:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1618:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1618:  *  GNU General Public License for more details.
fp@1618:  *
fp@1618:  *  You should have received a copy of the GNU General Public License
fp@1618:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1618:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1618:  *
fp@1619:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1619:  *  charge under condition of compatibility of product made by
fp@1619:  *  Licensee. People intending to distribute/sell products based on the
fp@1619:  *  code, have to sign an agreement to guarantee that products using
fp@1619:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1619:  *  EtherCAT specification (which are released themselves as an open
fp@1619:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1619:  *  Technology, IP and trade marks.
fp@1619:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@1618: /**
fp@1618:    \file
fp@1618:    EtherCAT stave structure.
fp@1618: */
fp@1618: 
fp@1618: /*****************************************************************************/
fp@1618: 
fp@0: #ifndef _EC_SLAVE_H_
fp@0: #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@1624: #include "datagram.h"
fp@54: #include "types.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@73: /**
fp@195:    State of an EtherCAT slave.
fp@98: */
fp@98: 
fp@98: typedef enum
fp@98: {
fp@126:     EC_SLAVE_STATE_UNKNOWN = 0x00,
fp@195:     /**< unknown state */
fp@126:     EC_SLAVE_STATE_INIT = 0x01,
fp@195:     /**< INIT state (no mailbox communication, no IO) */
fp@126:     EC_SLAVE_STATE_PREOP = 0x02,
fp@195:     /**< PREOP state (mailbox communication, no IO) */
fp@126:     EC_SLAVE_STATE_SAVEOP = 0x04,
fp@195:     /**< SAVEOP (mailbox communication and input update) */
fp@126:     EC_SLAVE_STATE_OP = 0x08,
fp@195:     /**< OP (mailbox communication and input/output update) */
fp@126:     EC_ACK = 0x10
fp@195:     /**< Acknoledge bit (no state) */
fp@98: }
fp@98: ec_slave_state_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Supported mailbox protocols.
fp@133: */
fp@133: 
fp@133: enum
fp@133: {
fp@145:     EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
fp@145:     EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
fp@145:     EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
fp@145:     EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
fp@145:     EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
fp@133:     EC_MBOX_VOE = 0x20  /**< Vendor specific */
fp@133: };
fp@133: 
fp@133: /*****************************************************************************/
fp@133: 
fp@133: /**
fp@195:    FMMU configuration.
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     const ec_domain_t *domain; /**< domain */
fp@195:     const ec_sync_t *sync; /**< sync manager */
fp@195:     uint32_t logical_start_address; /**< logical start address */
fp@73: }
fp@73: ec_fmmu_t;
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@73: /**
fp@195:    String object (EEPROM).
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     size_t size; /**< size in bytes */
fp@195:     char *data; /**< string data */
fp@118: }
fp@126: ec_eeprom_string_t;
fp@126: 
fp@126: /*****************************************************************************/
fp@126: 
fp@126: /**
fp@195:    Sync manager configuration (EEPROM).
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     unsigned int index; /**< sync manager index */
fp@195:     uint16_t physical_start_address; /**< physical start address */
fp@195:     uint16_t length; /**< data length in bytes */
fp@195:     uint8_t control_register; /**< control register value */
fp@195:     uint8_t enable; /**< enable bit */
fp@126: }
fp@126: ec_eeprom_sync_t;
fp@126: 
fp@126: /*****************************************************************************/
fp@126: 
fp@126: /**
fp@195:    PDO type.
fp@126: */
fp@126: 
fp@126: typedef enum
fp@126: {
fp@195:     EC_RX_PDO, /**< Reveive PDO */
fp@195:     EC_TX_PDO /**< Transmit PDO */
fp@126: }
fp@126: ec_pdo_type_t;
fp@126: 
fp@126: /*****************************************************************************/
fp@126: 
fp@126: /**
fp@195:    PDO description (EEPROM).
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     ec_pdo_type_t type; /**< PDO type */
fp@195:     uint16_t index; /**< PDO index */
fp@195:     uint8_t sync_manager; /**< assigned sync manager */
fp@195:     char *name; /**< PDO name */
fp@195:     struct list_head entries; /**< entry list */
fp@126: }
fp@126: ec_eeprom_pdo_t;
fp@126: 
fp@126: /*****************************************************************************/
fp@126: 
fp@126: /**
fp@195:    PDO entry description (EEPROM).
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     uint16_t index; /**< PDO index */
fp@195:     uint8_t subindex; /**< entry subindex */
fp@195:     char *name; /**< entry name */
fp@195:     uint8_t bit_length; /**< entry length in bit */
fp@126: }
fp@126: ec_eeprom_pdo_entry_t;
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    CANopen SDO.
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     uint16_t index; /**< SDO index */
fp@175:     //uint16_t type;
fp@195:     uint8_t object_code; /**< object code */
fp@195:     char *name; /**< SDO name */
fp@195:     struct list_head entries; /**< entry list */
fp@135: }
fp@135: ec_sdo_t;
fp@135: 
fp@135: /*****************************************************************************/
fp@135: 
fp@135: /**
fp@195:    CANopen SDO entry.
fp@195: */
fp@195: 
fp@195: typedef struct
fp@195: {
fp@195:     struct list_head list; /**< list item */
fp@195:     uint8_t subindex; /**< entry subindex */
fp@195:     uint16_t data_type; /**< entry data type */
fp@195:     uint16_t bit_length; /**< entry length in bit */
fp@195:     char *name; /**< entry name */
fp@139: }
fp@139: ec_sdo_entry_t;
fp@139: 
fp@139: /*****************************************************************************/
fp@139: 
fp@139: /**
fp@1621:    Variable-sized field information.
fp@1621: */
fp@1621: 
fp@1621: typedef struct
fp@1621: {
fp@1621:     struct list_head list; /**< list item */
fp@1621:     const ec_field_t *field; /**< data field */
fp@1621:     size_t size; /**< field size */
fp@1621: }
fp@1621: ec_varsize_t;
fp@1621: 
fp@1621: /*****************************************************************************/
fp@1621: 
fp@1621: /**
fp@1618:    EtherCAT slave.
fp@73: */
fp@73: 
fp@73: struct ec_slave
fp@73: {
fp@195:     struct list_head list; /**< list item */
fp@195:     struct kobject kobj; /**< kobject */
fp@195:     ec_master_t *master; /**< master owning the slave */
fp@195: 
fp@195:     // addresses
fp@195:     uint16_t ring_position; /**< ring position */
fp@195:     uint16_t station_address; /**< configured station address */
fp@195:     uint16_t coupler_index; /**< index of the last bus coupler */
fp@195:     uint16_t coupler_subindex; /**< index of this slave after last coupler */
fp@195: 
fp@195:     // base data
fp@195:     uint8_t base_type; /**< slave type */
fp@195:     uint8_t base_revision; /**< revision */
fp@195:     uint16_t base_build; /**< build number */
fp@195:     uint16_t base_fmmu_count; /**< number of supported FMMUs */
fp@195:     uint16_t base_sync_count; /**< number of supported sync managers */
fp@195: 
fp@195:     // data link status
fp@195:     uint8_t dl_link[4]; /**< link detected */
fp@195:     uint8_t dl_loop[4]; /**< loop closed */
fp@195:     uint8_t dl_signal[4]; /**< detected signal on RX port */
fp@195: 
fp@195:     // slave information interface
fp@195:     uint16_t sii_alias; /**< configured station alias */
fp@195:     uint32_t sii_vendor_id; /**< vendor id */
fp@195:     uint32_t sii_product_code; /**< vendor's product code */
fp@195:     uint32_t sii_revision_number; /**< revision number */
fp@195:     uint32_t sii_serial_number; /**< serial number */
fp@195:     uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */
fp@195:     uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */
fp@195:     uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */
fp@195:     uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */
fp@195:     uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */
fp@195:     uint8_t sii_physical_layer[4]; /**< port media */
fp@195: 
fp@195:     const ec_slave_type_t *type; /**< pointer to slave type object */
fp@195: 
fp@195:     uint8_t registered; /**< true, if slave has been registered */
fp@195: 
fp@195:     ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */
fp@195:     uint8_t fmmu_count; /**< number of FMMUs used */
fp@195: 
fp@1621:     uint8_t *eeprom_data; /**< Complete EEPROM image */
fp@1621:     uint16_t eeprom_size; /**< size of the EEPROM contents in byte */
fp@195:     struct list_head eeprom_strings; /**< EEPROM STRING categories */
fp@195:     struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */
fp@195:     struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */
fp@1619:     char *eeprom_group; /**< slave group acc. to EEPROM */
fp@1619:     char *eeprom_image; /**< slave image name acc. to EEPROM */
fp@1619:     char *eeprom_order; /**< slave order number acc. to EEPROM */
fp@195:     char *eeprom_name; /**< slave name acc. to EEPROM */
fp@195: 
fp@1621:     uint16_t *new_eeprom_data; /**< new EEPROM data to write */
fp@1621:     size_t new_eeprom_size; /**< size of new EEPROM data in words */
fp@1621: 
fp@195:     struct list_head sdo_dictionary; /**< SDO directory list */
fp@195: 
fp@1619:     ec_slave_state_t requested_state; /**< requested slave state */
fp@1619:     ec_slave_state_t current_state; /**< current slave state */
fp@1624:     unsigned int error_flag; /**< stop processing after an error */
fp@1619:     unsigned int online; /**< non-zero, if the slave responds. */
fp@1621: 
fp@1621:     struct list_head varsize_fields; /**< size information for variable-sized
fp@1621:                                         data fields. */
fp@73: };
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@195: // slave construction/destruction
fp@182: int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
fp@182: void ec_slave_clear(struct kobject *);
fp@73: 
fp@195: // slave control
fp@73: int ec_slave_fetch(ec_slave_t *);
fp@136: int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);
fp@136: int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);
fp@136: int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);
fp@73: int ec_slave_state_change(ec_slave_t *, uint8_t);
fp@160: int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
fp@160:                           const ec_sync_t *);
fp@73: 
fp@195: // CoE
fp@133: int ec_slave_fetch_sdo_list(ec_slave_t *);
fp@133: 
fp@1619: // state machine
fp@1619: int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
fp@1619: int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
fp@1619: int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
fp@1619: int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
fp@1619: int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
fp@1619: 
fp@195: // misc.
fp@1621: size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
fp@1624: uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *,
fp@1624:                                         const ec_eeprom_sync_t *);
fp@1624: 
fp@140: void ec_slave_print(const ec_slave_t *, unsigned int);
fp@74: int ec_slave_check_crc(ec_slave_t *);
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: #endif