fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@197:  *  as published by the Free Software Foundation; version 2 of the License.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along 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@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT master structure.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@0: #ifndef _EC_MASTER_H_
fp@0: #define _EC_MASTER_H_
fp@0: 
fp@95: #include <linux/list.h>
fp@178: #include <linux/sysfs.h>
fp@191: #include <linux/timer.h>
fp@95: 
fp@54: #include "device.h"
fp@54: #include "domain.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@191:    EtherCAT master mode.
fp@191: */
fp@191: 
fp@191: typedef enum
fp@191: {
fp@191:     EC_MASTER_MODE_IDLE,
fp@191:     EC_MASTER_MODE_FREERUN,
fp@191:     EC_MASTER_MODE_RUNNING
fp@191: }
fp@191: ec_master_mode_t;
fp@191: 
fp@191: /*****************************************************************************/
fp@191: 
fp@191: /**
fp@199:    Cyclic statistics.
fp@98: */
fp@98: 
fp@98: typedef struct
fp@98: {
fp@195:     unsigned int timeouts; /**< command timeouts */
fp@195:     unsigned int delayed; /**< delayed commands */
fp@195:     unsigned int corrupted; /**< corrupted frames */
fp@195:     unsigned int unmatched; /**< unmatched commands */
fp@195:     unsigned int eoe_errors; /**< Ethernet-over-EtherCAT errors */
fp@195:     cycles_t t_last; /**< time of last output */
fp@98: }
fp@98: ec_stats_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@199:    EtherCAT master.
fp@195:    Manages slaves, domains and IO.
fp@0: */
fp@0: 
fp@55: struct ec_master
fp@0: {
fp@195:     struct list_head list; /**< list item */
fp@195:     struct kobject kobj; /**< kobject */
fp@195:     unsigned int index; /**< master index */
fp@195:     struct list_head slaves; /**< list of slaves on the bus */
fp@195:     unsigned int slave_count; /**< number of slaves on the bus */
fp@195:     ec_device_t *device; /**< EtherCAT device */
fp@195:     struct list_head command_queue; /**< command queue */
fp@195:     uint8_t command_index; /**< current command index */
fp@195:     struct list_head domains; /**< list of domains */
fp@195:     ec_command_t simple_command; /**< command structure for initialization */
fp@195:     ec_command_t watch_command; /**< command for watching the slaves */
fp@195:     unsigned int slaves_responding; /**< number of responding slaves */
fp@195:     ec_slave_state_t slave_states; /**< states of the responding slaves */
fp@195:     int debug_level; /**< master debug level */
fp@195:     ec_stats_t stats; /**< cyclic statistics */
fp@195:     unsigned int timeout; /**< timeout in synchronous IO */
fp@195:     struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
fp@195:     unsigned int reserved; /**< true, if the master is reserved for RT */
fp@195:     struct timer_list freerun_timer; /**< timer object for free run mode */
fp@195:     ec_master_mode_t mode; /**< master mode */
fp@204:     int (*request_cb)(void *); /**< lock request callback */
fp@204:     void (*release_cb)(void *); /**< lock release callback */
fp@204:     void *cb_data; /**< data parameter of locking callbacks */
fp@55: };
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@195: // master creation and deletion
fp@178: int ec_master_init(ec_master_t *, unsigned int);
fp@178: void ec_master_clear(struct kobject *);
fp@56: void ec_master_reset(ec_master_t *);
fp@98: 
fp@195: // free run
fp@191: void ec_master_freerun_start(ec_master_t *);
fp@191: void ec_master_freerun_stop(ec_master_t *);
fp@191: 
fp@98: // IO
fp@98: void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
fp@98: void ec_master_queue_command(ec_master_t *, ec_command_t *);
fp@145: int ec_master_simple_io(ec_master_t *, ec_command_t *);
fp@0: 
fp@195: // slave management
fp@98: int ec_master_bus_scan(ec_master_t *);
fp@0: 
fp@195: // misc.
fp@98: void ec_master_output_stats(ec_master_t *);
fp@145: void ec_master_run_eoe(ec_master_t *);
fp@145: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: #endif