fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
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@792:  *
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@792:  *
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@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
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@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@792:    EtherCAT slave configuration structure.
fp@792: */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@883: #ifndef __EC_SLAVE_CONFIG_H__
fp@883: #define __EC_SLAVE_CONFIG_H__
fp@792: 
fp@792: #include <linux/list.h>
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "slave.h"
fp@1055: #include "sync_config.h"
fp@792: #include "fmmu_config.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1921: /** Convenience macro for printing configuration-specific information to
fp@1921:  * syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
fp@1921:  * and ALIAS and POSITION identify the configuration.
fp@1921:  *
fp@1921:  * \param sc EtherCAT slave configuration
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_CONFIG_INFO(sc, fmt, args...) \
fp@1921:     printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
fp@1921:             sc->alias, sc->position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing configuration-specific errors to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
fp@1921:  * and ALIAS and POSITION identify the configuration.
fp@1921:  *
fp@1921:  * \param sc EtherCAT slave configuration
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_CONFIG_ERR(sc, fmt, args...) \
fp@1921:     printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
fp@1921:             sc->alias, sc->position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing configuration-specific warnings to syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
fp@1921:  * and ALIAS and POSITION identify the configuration.
fp@1921:  *
fp@1921:  * \param sc EtherCAT slave configuration
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_CONFIG_WARN(sc, fmt, args...) \
fp@1921:     printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
fp@1921:             sc->master->index, sc->alias, sc->position, ##args)
fp@1921: 
fp@1921: /** Convenience macro for printing configuration-specific debug messages to
fp@1921:  * syslog.
fp@1921:  *
fp@1921:  * This will print the message in \a fmt with a prefixed
fp@1921:  * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
fp@1921:  * and ALIAS and POSITION identify the configuration.
fp@1921:  *
fp@1921:  * \param sc EtherCAT slave configuration
fp@1921:  * \param fmt format string (like in printf())
fp@1921:  * \param args arguments (optional)
fp@1921:  */
fp@1921: #define EC_CONFIG_DBG(sc, level, fmt, args...) \
fp@1921:     do { \
fp@1921:         if (sc->master->debug_level >= level) { \
fp@1921:             printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \
fp@1921:                     sc->master->index, sc->alias, sc->position, ##args); \
fp@1921:         } \
fp@1921:     } while (0)
fp@1921: 
fp@1921: /*****************************************************************************/
fp@1921: 
fp@792: /** EtherCAT slave configuration.
fp@792:  */
fp@792: struct ec_slave_config {
fp@792:     struct list_head list; /**< List item. */
fp@792:     ec_master_t *master; /**< Master owning the slave configuration. */
fp@792: 
fp@792:     uint16_t alias; /**< Slave alias. */
fp@792:     uint16_t position; /**< Index after alias. If alias is zero, this is the
fp@792:                          ring position. */
fp@792:     uint32_t vendor_id; /**< Slave vendor ID. */
fp@792:     uint32_t product_code; /**< Slave product code. */
fp@792: 
fp@1509:     uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
fp@1509:                                  intervals (see spec. reg. 0x0400). */
fp@1509:     uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
fp@1509:                                    spec. reg. 0x0420). */
fp@1509: 
fp@792:     ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
fp@792:                          offline. */
fp@792: 
fp@1082:     ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; /**< Sync manager
fp@1055:                                                    configurations. */
fp@1055:     ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
fp@1055:     uint8_t used_fmmus; /**< Number of FMMUs used. */
fp@1438:     uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
fp@1438:     ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; /**< DC sync signals. */
fp@1392: 
fp@1327:     struct list_head sdo_configs; /**< List of SDO configurations. */
fp@1327:     struct list_head sdo_requests; /**< List of SDO requests. */
fp@1209:     struct list_head voe_handlers; /**< List of VoE handlers. */
fp@1844:     struct list_head soe_configs; /**< List of SoE configurations. */
fp@792: };
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@995: void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
fp@1010:         uint16_t, uint32_t, uint32_t);
fp@995: void ec_slave_config_clear(ec_slave_config_t *);
fp@792: 
fp@792: int ec_slave_config_attach(ec_slave_config_t *);
fp@792: void ec_slave_config_detach(ec_slave_config_t *);
fp@792: 
fp@1055: void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
fp@792: 
fp@990: unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
fp@990: const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
fp@990:         const ec_slave_config_t *, unsigned int);
fp@1966: unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
fp@1966: const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
fp@1966:         const ec_slave_config_t *, unsigned int);
fp@1351: ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
fp@1351:         unsigned int);
fp@1263: ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
fp@1507:         unsigned int);
fp@990: 
fp@1312: ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
fp@1312:         ec_slave_config_t *, uint16_t, uint8_t, size_t);
fp@1312: ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
fp@1312:         ec_slave_config_t *, size_t);
fp@1312: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #endif