/****************************************************************************** * * $Id$ * * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH * * This file is part of the IgH EtherCAT Master. * * The IgH EtherCAT Master is free software; you can redistribute it * and/or modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * The IgH EtherCAT Master is distributed in the hope that it will be * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with the IgH EtherCAT Master; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * * The right to use EtherCAT Technology is granted and comes free of * charge under condition of compatibility of product made by * Licensee. People intending to distribute/sell products based on the * code, have to sign an agreement to guarantee that products using * software based on IgH EtherCAT master stay compatible with the actual * EtherCAT specification (which are released themselves as an open * standard) as the (only) precondition to have the right to use EtherCAT * Technology, IP and trade marks. * *****************************************************************************/ /** \file EtherCAT master structure. */ /*****************************************************************************/ #ifndef __EC_MASTER_H__ #define __EC_MASTER_H__ #include #include #include #include #include "device.h" #include "domain.h" #include "fsm_master.h" #include "cdev.h" /*****************************************************************************/ /** EtherCAT master phase. */ typedef enum { EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device attached. */ EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master is not in use, yet. */ EC_OPERATION /**< Operation phase. The master was requested by a realtime application. */ } ec_master_phase_t; /*****************************************************************************/ /** Cyclic statistics. */ typedef struct { unsigned int timeouts; /**< datagram timeouts */ unsigned int corrupted; /**< corrupted frames */ unsigned int unmatched; /**< unmatched datagrams (received, but not queued any longer) */ unsigned long output_jiffies; /**< time of last output */ } ec_stats_t; /*****************************************************************************/ /** EtherCAT master. * * Manages slaves, domains and IO. */ struct ec_master { unsigned int index; /**< Index. */ unsigned int reserved; /**< \a True, if the master is in use. */ ec_cdev_t cdev; /**< Master character device. */ struct class_device *class_device; /**< Master class device. */ struct semaphore master_sem; /**< Master semaphore. */ ec_device_t main_device; /**< EtherCAT main device. */ const uint8_t *main_mac; /**< MAC address of main device. */ ec_device_t backup_device; /**< EtherCAT backup device. */ const uint8_t *backup_mac; /**< MAC address of backup device. */ struct semaphore device_sem; /**< Device semaphore. */ ec_fsm_master_t fsm; /**< Master state machine. */ ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */ ec_master_phase_t phase; /**< Master phase. */ unsigned int injection_seq_fsm; /**< Datagram injection sequence number for the FSM side. */ unsigned int injection_seq_rt; /**< Datagram injection sequence number for the realtime side. */ ec_slave_t *slaves; /**< Array of slaves on the bus. */ unsigned int slave_count; /**< Number of slaves on the bus. */ struct list_head configs; /**< List of slave configurations. */ unsigned int scan_busy; /**< Current scan state. */ unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */ struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy variable and the \a allow_scan flag. */ wait_queue_head_t scan_queue; /**< Queue for processes that wait for slave scanning. */ unsigned int config_busy; /**< State of slave configuration. */ unsigned int allow_config; /**< \a True, if slave configuration is allowed. */ struct semaphore config_sem; /**< Semaphore protecting the \a config_busy variable and the allow_config flag. */ wait_queue_head_t config_queue; /**< Queue for processes that wait for slave configuration. */ struct list_head datagram_queue; /**< Datagram queue. */ uint8_t datagram_index; /**< Current datagram index. */ struct list_head domains; /**< List of domains. */ int debug_level; /**< Master debug level. */ ec_stats_t stats; /**< Cyclic statistics. */ unsigned int frames_timed_out; /**< There were frame timeouts in the last call to ecrt_master_receive(). */ int thread_id; /**< Master thread PID. */ struct completion thread_can_terminate; /**< Thread termination completion object. When stopping the thread, it must be assured, that it 'hears' a SIGTERM, therefore the allow_singal() function must have been called. */ struct completion thread_exit; /**< Thread completion object. */ #ifdef EC_EOE struct timer_list eoe_timer; /**< EoE timer object. */ unsigned int eoe_running; /**< \a True, if EoE processing is active. */ struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */ #endif spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */ int (*request_cb)(void *); /**< Lock request callback. */ void (*release_cb)(void *); /**< Lock release callback. */ void *cb_data; /**< Data parameter of locking callbacks. */ int (*ext_request_cb)(void *); /**< External lock request callback. */ void (*ext_release_cb)(void *); /**< External lock release callback. */ void *ext_cb_data; /**< Data parameter of external locking callbacks. */ struct list_head sii_requests; /**< SII write requests. */ wait_queue_head_t sii_queue; /**< Wait queue for SII write requests from user space. */ struct list_head slave_sdo_requests; /**< Sdo access requests. */ wait_queue_head_t sdo_queue; /**< Wait queue for Sdo access requests from user space. */ struct list_head phy_requests; /**< Physical memory requests. */ wait_queue_head_t phy_queue; /**< Wait queue for phy requests. */ }; /*****************************************************************************/ // master creation/deletion int ec_master_init(ec_master_t *, unsigned int, const uint8_t *, const uint8_t *, dev_t, struct class *); void ec_master_clear(ec_master_t *); // phase transitions int ec_master_enter_idle_phase(ec_master_t *); void ec_master_leave_idle_phase(ec_master_t *); int ec_master_enter_operation_phase(ec_master_t *); void ec_master_leave_operation_phase(ec_master_t *); #ifdef EC_EOE // EoE void ec_master_eoe_start(ec_master_t *); void ec_master_eoe_stop(ec_master_t *); #endif // datagram IO void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t); void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *); // misc. void ec_master_attach_slave_configs(ec_master_t *); ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t); const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t, uint16_t); void ec_master_output_stats(ec_master_t *); #ifdef EC_EOE void ec_master_clear_eoe_handlers(ec_master_t *); #endif void ec_master_clear_slaves(ec_master_t *); unsigned int ec_master_config_count(const ec_master_t *); const ec_slave_config_t *ec_master_get_config_const( const ec_master_t *, unsigned int); unsigned int ec_master_domain_count(const ec_master_t *); ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int); const ec_domain_t *ec_master_find_domain_const(const ec_master_t *, unsigned int); int ec_master_debug_level(ec_master_t *, int); /*****************************************************************************/ #endif