fp@42: /******************************************************************************
fp@42:  *
fp@54:  *  d o m a i n . h
fp@42:  *
fp@195:  *  EtherCAT domain structure.
fp@42:  *
fp@42:  *  $Id$
fp@42:  *
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@42:  *****************************************************************************/
fp@42: 
fp@42: #ifndef _EC_DOMAIN_H_
fp@42: #define _EC_DOMAIN_H_
fp@42: 
fp@73: #include <linux/list.h>
fp@178: #include <linux/kobject.h>
fp@73: 
fp@54: #include "globals.h"
fp@54: #include "slave.h"
fp@98: #include "command.h"
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@197:    \defgroup Domain EtherCAT domain
fp@197:    Data types and methods for EtherCAT domains.
fp@197:    A domain handles process data IO with a group of slaves.
fp@197:    \{
fp@197: */
fp@197: 
fp@197: /*****************************************************************************/
fp@197: 
fp@197: /**
fp@195:    Data field registration type.
fp@73: */
fp@73: 
fp@73: typedef struct
fp@73: {
fp@195:     struct list_head list; /**< list item */
fp@195:     ec_slave_t *slave; /**< slave */
fp@195:     const ec_sync_t *sync; /**< sync manager */
fp@195:     uint32_t field_offset; /**< data field offset */
fp@195:     void **data_ptr; /**< pointer to process data pointer(s) */
fp@73: }
fp@73: ec_field_reg_t;
fp@42: 
fp@42: /*****************************************************************************/
fp@42: 
fp@42: /**
fp@195:    EtherCAT domain.
fp@195:    Handles the process data and the therefore needed commands of a certain
fp@195:    group of slaves.
fp@42: */
fp@42: 
fp@73: struct ec_domain
fp@42: {
fp@195:     struct kobject kobj; /**< kobject */
fp@195:     struct list_head list; /**< list item */
fp@195:     unsigned int index; /**< domain index (just a number) */
fp@195:     ec_master_t *master; /**< EtherCAT master owning the domain */
fp@195:     size_t data_size; /**< size of the process data */
fp@195:     struct list_head commands; /**< process data commands */
fp@195:     uint32_t base_address; /**< logical offset address of the process data */
fp@195:     unsigned int response_count; /**< number of responding slaves */
fp@195:     struct list_head field_regs; /**< data field registrations */
fp@73: };
fp@42: 
fp@197: /** \} */
fp@197: 
fp@42: /*****************************************************************************/
fp@42: 
fp@178: int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
fp@178: void ec_domain_clear(struct kobject *);
fp@73: int ec_domain_alloc(ec_domain_t *, uint32_t);
fp@42: 
fp@42: /*****************************************************************************/
fp@42: 
fp@42: #endif