fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1326:  *  Copyright (C) 2006-2008  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@1326:  *
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@1326:  *
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@199:    EtherCAT master structure.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@883: #ifndef __EC_MASTER_H__
fp@883: #define __EC_MASTER_H__
fp@0: 
fp@1250: #include <linux/version.h>
fp@95: #include <linux/list.h>
fp@191: #include <linux/timer.h>
fp@601: #include <linux/wait.h>
fp@1241: #include <linux/kthread.h>
fp@1369: 
fp@1369: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
fp@1369: #include <linux/semaphore.h>
fp@1369: #else
fp@381: #include <asm/semaphore.h>
fp@1369: #endif
fp@95: 
fp@54: #include "device.h"
fp@54: #include "domain.h"
fp@1485: #include "ethernet.h"
fp@528: #include "fsm_master.h"
fp@922: #include "cdev.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@1921: /** Convenience macro for printing master-specific information to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
fp@1921:  * where INDEX is the master index.
fp@1921:  *
fp@1921:  * \param master EtherCAT master
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_MASTER_INFO(master, fmt, args...) \
fp@1921:     printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing master-specific errors to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
fp@1921:  * where INDEX is the master index.
fp@1921:  *
fp@1921:  * \param master EtherCAT master
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_MASTER_ERR(master, fmt, args...) \
fp@1921:     printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing master-specific warnings to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
fp@1921:  * where INDEX is the master index.
fp@1921:  *
fp@1921:  * \param master EtherCAT master
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_MASTER_WARN(master, fmt, args...) \
fp@1921:     printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing master-specific debug messages to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
fp@1921:  * where INDEX is the master index.
fp@1921:  *
fp@1921:  * \param master EtherCAT master
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_MASTER_DBG(master, level, fmt, args...) \
fp@1921:     do { \
fp@1921:         if (master->debug_level >= level) { \
fp@1921:             printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
fp@1921:                     master->index, ##args); \
fp@1921:         } \
fp@1921:     } while (0)
fp@1921: 
fp@1921: /*****************************************************************************/
fp@1921: 
fp@1029: /** EtherCAT master phase.
fp@792:  */
fp@792: typedef enum {
fp@1029:     EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
fp@1029:                    attached. */
fp@1029:     EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
fp@1029:                is not in use, yet. */
fp@1029:     EC_OPERATION /**< Operation phase. The master was requested by a realtime
fp@1029:                    application. */
fp@1029: } ec_master_phase_t;
fp@191: 
fp@191: /*****************************************************************************/
fp@191: 
fp@792: /** Cyclic statistics.
fp@792:  */
fp@792: typedef struct {
fp@293:     unsigned int timeouts; /**< datagram timeouts */
fp@195:     unsigned int corrupted; /**< corrupted frames */
fp@332:     unsigned int unmatched; /**< unmatched datagrams (received, but not
fp@332:                                queued any longer) */
fp@344:     unsigned long output_jiffies; /**< time of last output */
fp@849: } ec_stats_t;
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@2158: /** Device statistics.
fp@2158:  */
fp@2158: typedef struct {
fp@2158:     u64 tx_count; /**< Number of frames sent. */
fp@2158:     u64 last_tx_count; /**< Number of frames sent of last statistics cycle. */
fp@2158:     u64 rx_count; /**< Number of frames received. */
fp@2158:     u64 last_rx_count; /**< Number of frames received of last statistics
fp@2158:                          cycle. */
fp@2158:     u64 tx_bytes; /**< Number of bytes sent. */
fp@2158:     u64 last_tx_bytes; /**< Number of bytes sent of last statistics cycle. */
fp@2158:     u64 rx_bytes; /**< Number of bytes received. */
fp@2158:     u64 last_rx_bytes; /**< Number of bytes received of last statistics cycle.
fp@2158:                         */
fp@2158:     u64 last_loss; /**< Tx/Rx difference of last statistics cycle. */
fp@2372:     s32 tx_frame_rates[EC_RATE_COUNT]; /**< Transmit rates in frames/s for
fp@2372:                                          different statistics cycle periods.
fp@2372:                                         */
fp@2372:     s32 rx_frame_rates[EC_RATE_COUNT]; /**< Receive rates in frames/s for
fp@2372:                                          different statistics cycle periods.
fp@2372:                                         */
fp@2372:     s32 tx_byte_rates[EC_RATE_COUNT]; /**< Transmit rates in byte/s for
fp@2372:                                         different statistics cycle periods. */
fp@2372:     s32 rx_byte_rates[EC_RATE_COUNT]; /**< Receive rates in byte/s for
fp@2372:                                         different statistics cycle periods. */
fp@2372:     s32 loss_rates[EC_RATE_COUNT]; /**< Frame loss rates for different
fp@2158:                                      statistics cycle periods. */
fp@2158:     unsigned long jiffies; /**< Jiffies of last statistic cycle. */
fp@2158: } ec_device_stats_t;
fp@2158: 
fp@2158: /*****************************************************************************/
fp@2158: 
fp@792: /** EtherCAT master.
fp@792:  *
fp@792:  * Manages slaves, domains and IO.
fp@792:  */
fp@849: struct ec_master {
fp@1029:     unsigned int index; /**< Index. */
fp@1029:     unsigned int reserved; /**< \a True, if the master is in use. */
fp@241: 
fp@922:     ec_cdev_t cdev; /**< Master character device. */
fp@1250: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
fp@1250:     struct device *class_device; /**< Master class device. */
fp@1250: #else
fp@1013:     struct class_device *class_device; /**< Master class device. */
fp@1250: #endif
fp@1250: 
fp@1075:     struct semaphore master_sem; /**< Master semaphore. */
fp@922: 
fp@2267:     ec_device_t devices[EC_NUM_DEVICES]; /**< EtherCAT devices. */
fp@2267:     const uint8_t *macs[EC_NUM_DEVICES]; /**< Device MAC addresses. */
fp@1029:     struct semaphore device_sem; /**< Device semaphore. */
fp@2158:     ec_device_stats_t device_stats; /**< Device statistics. */
fp@1029: 
fp@1029:     ec_fsm_master_t fsm; /**< Master state machine. */
fp@1029:     ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
fp@1029:     ec_master_phase_t phase; /**< Master phase. */
fp@1530:     unsigned int active; /**< Master has been activated. */
fp@1925:     unsigned int config_changed; /**< The configuration changed. */
fp@1029:     unsigned int injection_seq_fsm; /**< Datagram injection sequence number
fp@1029:                                       for the FSM side. */
fp@1029:     unsigned int injection_seq_rt; /**< Datagram injection sequence number
fp@1029:                                      for the realtime side. */
fp@334: 
fp@1000:     ec_slave_t *slaves; /**< Array of slaves on the bus. */
fp@1000:     unsigned int slave_count; /**< Number of slaves on the bus. */
fp@792: 
fp@1939:     /* Configuration applied by the application. */
fp@1028:     struct list_head configs; /**< List of slave configurations. */
fp@1939:     struct list_head domains; /**< List of domains. */
fp@656:     
fp@1396:     u64 app_time; /**< Time of the last ecrt_master_sync() call. */
fp@1436:     u64 app_start_time; /**< Application start time. */
fp@1925:     u8 has_app_time; /**< Application time is valid. */
fp@1396:     ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the
fp@1396:                                        reference clock to the master clock. */
fp@1394:     ec_datagram_t sync_datagram; /**< Datagram used for DC drift
fp@1394:                                    compensation. */
fp@1535:     ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation
fp@1535:                                        monitoring. */
fp@1425:     ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
fp@1394:     
fp@900:     unsigned int scan_busy; /**< Current scan state. */
fp@1029:     unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
fp@1029:     struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
fp@1029:                                  variable and the \a allow_scan flag. */
fp@1029:     wait_queue_head_t scan_queue; /**< Queue for processes that wait for
fp@1029:                                     slave scanning. */
fp@656: 
fp@900:     unsigned int config_busy; /**< State of slave configuration. */
fp@1029:     struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
fp@1029:                                    variable and the allow_config flag. */
fp@1029:     wait_queue_head_t config_queue; /**< Queue for processes that wait for
fp@1029:                                       slave configuration. */
fp@1029: 
fp@1029:     struct list_head datagram_queue; /**< Datagram queue. */
fp@1029:     uint8_t datagram_index; /**< Current datagram index. */
fp@1029: 
fp@1500:     struct list_head ext_datagram_queue; /**< Queue for non-application
fp@1500:                                            datagrams. */
fp@1500:     struct semaphore ext_queue_sem; /**< Semaphore protecting the \a
fp@1500:                                       ext_datagram_queue. */
fp@1500: 
martin@1597:     struct list_head external_datagram_queue; /**< External Datagram queue. */
fp@2299:     unsigned int send_interval; /**< Interval between two calls to
fp@2299:                                   ecrt_master_send(). */
fp@1907:     size_t max_queue_size; /**< Maximum size of datagram queue */
fp@241: 
fp@1399:     unsigned int debug_level; /**< Master debug level. */
fp@1029:     ec_stats_t stats; /**< Cyclic statistics. */
fp@1029: 
fp@1241:     struct task_struct *thread; /**< Master thread. */
fp@241: 
fp@715: #ifdef EC_EOE
fp@1489:     struct task_struct *eoe_thread; /**< EoE thread. */
fp@1327:     struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
fp@1029: #endif
fp@1029: 
fp@1489:     struct semaphore io_sem; /**< Semaphore used in \a IDLE phase. */
fp@1500: 
fp@1513:     void (*send_cb)(void *); /**< Current send datagrams callback. */
fp@1513:     void (*receive_cb)(void *); /**< Current receive datagrams callback. */
fp@1513:     void *cb_data; /**< Current callback data. */
fp@1513:     void (*app_send_cb)(void *); /**< Application's send datagrams
fp@1500:                                           callback. */
fp@1513:     void (*app_receive_cb)(void *); /**< Application's receive datagrams
fp@1500:                                       callback. */
fp@1513:     void *app_cb_data; /**< Application callback data. */
fp@1029: 
fp@1029:     struct list_head sii_requests; /**< SII write requests. */
fp@1029:     wait_queue_head_t sii_queue; /**< Wait queue for SII
fp@1029:                                       write requests from user space. */
fp@601: 
fp@1388:     struct list_head reg_requests; /**< Register requests. */
fp@1388:     wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
fp@55: };
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@1279: // static funtions
fp@1279: void ec_master_init_static(void);
fp@1279: 
fp@448: // master creation/deletion
fp@997: int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
fp@1399:         const uint8_t *, dev_t, struct class *, unsigned int);
fp@639: void ec_master_clear(ec_master_t *);
fp@98: 
fp@1029: // phase transitions
fp@1029: int ec_master_enter_idle_phase(ec_master_t *);
fp@1029: void ec_master_leave_idle_phase(ec_master_t *);
fp@1029: int ec_master_enter_operation_phase(ec_master_t *);
fp@1029: void ec_master_leave_operation_phase(ec_master_t *);
fp@191: 
fp@715: #ifdef EC_EOE
fp@251: // EoE
fp@251: void ec_master_eoe_start(ec_master_t *);
fp@251: void ec_master_eoe_stop(ec_master_t *);
fp@715: #endif
fp@251: 
fp@446: // datagram IO
fp@331: void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
fp@2374: void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
fp@1500: void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
fp@2374: void ec_master_queue_external_datagram(ec_master_t *, ec_datagram_t *);
martin@1597: void ec_master_inject_external_datagrams(ec_master_t *);
fp@0: 
fp@195: // misc.
fp@1930: void ec_master_set_send_interval(ec_master_t *, unsigned int);
fp@1028: void ec_master_attach_slave_configs(ec_master_t *);
fp@927: ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
fp@1077: const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
fp@1077:         uint16_t);
fp@325: void ec_master_output_stats(ec_master_t *);
fp@715: #ifdef EC_EOE
fp@661: void ec_master_clear_eoe_handlers(ec_master_t *);
fp@715: #endif
fp@992: void ec_master_clear_slaves(ec_master_t *);
fp@325: 
fp@990: unsigned int ec_master_config_count(const ec_master_t *);
fp@1252: ec_slave_config_t *ec_master_get_config(
fp@1252:         const ec_master_t *, unsigned int);
fp@990: const ec_slave_config_t *ec_master_get_config_const(
fp@990:         const ec_master_t *, unsigned int);
fp@946: unsigned int ec_master_domain_count(const ec_master_t *);
fp@946: ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
fp@1078: const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
fp@1078:         unsigned int);
fp@1516: #ifdef EC_EOE
fp@1485: uint16_t ec_master_eoe_handler_count(const ec_master_t *);
fp@1485: const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
fp@1516: #endif
fp@946: 
fp@1399: int ec_master_debug_level(ec_master_t *, unsigned int);
fp@956: 
fp@1312: ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);
fp@1312: ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
fp@1312:         uint16_t, uint32_t, uint32_t);
fp@1312: 
fp@1425: void ec_master_calc_dc(ec_master_t *);
fp@1925: void ec_master_request_op(ec_master_t *);
fp@1425: 
fp@1513: void ec_master_internal_send_cb(void *);
fp@1513: void ec_master_internal_receive_cb(void *);
fp@1513: 
fp@2158: extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c
fp@2158: 
fp@2158: /*****************************************************************************/
fp@2158: 
fp@2158: #endif