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@197:  *
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@197:  *
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@1326:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1326:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@791:    EtherCAT slave structure.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@883: #ifndef __EC_SLAVE_H__
fp@883: #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@293: #include "datagram.h"
fp@627: #include "pdo.h"
fp@628: #include "sync.h"
fp@847: #include "sdo.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@834: /** Slave information interface data.
fp@834:  */
fp@834: typedef struct {
fp@834:     // Non-category data 
fp@834:     uint16_t alias; /**< Configured station alias. */
fp@834:     uint32_t vendor_id; /**< Vendor ID. */
fp@834:     uint32_t product_code; /**< Vendor-specific product code. */
fp@834:     uint32_t revision_number; /**< Revision number. */
fp@834:     uint32_t serial_number; /**< Serial number. */
fp@834:     uint16_t rx_mailbox_offset; /**< Mailbox address (master to slave). */
fp@834:     uint16_t rx_mailbox_size; /**< Mailbox size (master to slave). */
fp@834:     uint16_t tx_mailbox_offset; /**< Mailbox address (slave to master). */
fp@834:     uint16_t tx_mailbox_size; /**< Mailbox size (slave to master). */
fp@834:     uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
fp@834: 
fp@834:     // Strings
fp@872:     char **strings; /**< Strings in SII categories. */
fp@1000:     unsigned int string_count; /**< Number of SII strings. */
fp@834: 
fp@834:     // General
fp@835:     unsigned int has_general; /**< General category present. */
fp@1000:     char *group; /**< Group name. */
fp@1000:     char *image; /**< Image name. */
fp@1000:     char *order; /**< Order number. */
fp@1000:     char *name; /**< Slave name. */
fp@1055:     uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */
fp@835:     ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
fp@836:     ec_sii_general_flags_t general_flags; /**< General flags. */
fp@1000:     int16_t current_on_ebus; /**< Power consumption in mA. */
fp@834: 
fp@834:     // SyncM
fp@1000:     ec_sync_t *syncs; /**< SYNC MANAGER categories. */
fp@1000:     unsigned int sync_count; /**< Number of sync managers. */
fp@834: 
fp@834:     // [RT]XPDO
fp@1000:     struct list_head pdos; /**< SII [RT]XPDO categories. */
fp@834: } ec_sii_t;
fp@834: 
fp@834: /*****************************************************************************/
fp@834: 
fp@1000: /** EtherCAT slave port information.
fp@1000:  */
fp@1000: typedef struct {
fp@1000:     uint8_t dl_link; /**< Link detected. */
fp@1000:     uint8_t dl_loop; /**< Loop closed. */
fp@1000:     uint8_t dl_signal; /**< Detected signal on RX port. */
fp@1000: } ec_slave_port_t;
fp@1000: 
fp@1000: /*****************************************************************************/
fp@1000: 
fp@792: /** EtherCAT slave.
fp@635:  */
fp@73: struct ec_slave
fp@73: {
fp@1000:     ec_master_t *master; /**< Master owning the slave. */
fp@195: 
fp@195:     // addresses
fp@1000:     uint16_t ring_position; /**< Ring position. */
fp@1000:     uint16_t station_address; /**< Configured station address. */
fp@195: 
fp@792:     // configuration
fp@792:     ec_slave_config_t *config; /**< Current configuration. */
fp@792:     ec_slave_state_t requested_state; /**< Requested application state. */
fp@792:     ec_slave_state_t current_state; /**< Current application state. */
fp@792:     unsigned int error_flag; /**< Stop processing after an error. */
fp@908:     unsigned int force_config; /**< Force (re-)configuration. */
fp@792: 
fp@195:     // base data
fp@1000:     uint8_t base_type; /**< Slave type. */
fp@1000:     uint8_t base_revision; /**< Revision. */
fp@1000:     uint16_t base_build; /**< Build number. */
fp@1000:     uint16_t base_fmmu_count; /**< Number of supported FMMUs. */
fp@195: 
fp@195:     // data link status
fp@1092:     ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */
fp@195: 
fp@872:     // SII
fp@977:     uint16_t *sii_words; /**< Complete SII image. */
fp@977:     size_t sii_nwords; /**< Size of the SII contents in words. */
fp@325: 
fp@1000:     // Slave information interface
fp@1000:     ec_sii_t sii; /**< Extracted SII data. */
fp@195: 
fp@814:     struct list_head sdo_dictionary; /**< Sdo dictionary list */
fp@1000:     uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
fp@1000:     unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
fp@73: };
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@195: // slave construction/destruction
fp@992: void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
fp@992: void ec_slave_clear(ec_slave_t *);
fp@73: 
fp@870: void ec_slave_clear_sync_managers(ec_slave_t *);
fp@870: 
fp@446: void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
fp@610: void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
fp@446: 
fp@325: // SII categories
fp@742: int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
fp@742: int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
fp@620: int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
fp@620: int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
fp@792:         ec_direction_t);
fp@238: 
fp@195: // misc.
fp@1055: ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); 
fp@1055: 
fp@423: void ec_slave_sdo_dict_info(const ec_slave_t *,
fp@635:         unsigned int *, unsigned int *);
fp@740: ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
fp@967: const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
fp@964: const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
fp@964: uint16_t ec_slave_sdo_count(const ec_slave_t *);
fp@799: const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
fp@1186: void ec_slave_attach_pdo_names(ec_slave_t *);
fp@423: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: #endif