/****************************************************************************** * * $Id$ * * 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 mode. */ typedef enum { EC_MASTER_MODE_ORPHANED, EC_MASTER_MODE_IDLE, EC_MASTER_MODE_OPERATION } ec_master_mode_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; /**< master index */ unsigned int reserved; /**< non-zero, if the master is reserved for RT */ ec_cdev_t cdev; /**< Master character device. */ struct class_device *class_device; /**< Master class device. */ ec_device_t main_device; /**< EtherCAT 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_mode_t mode; /**< master mode */ 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; /**< Bus configuration list. */ unsigned int configs_attached; /**< Slave configurations were attached. */ unsigned int scan_busy; /**< Current scan state. */ unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */ struct semaphore scan_sem; /**< semaphore protecting the scan_state variable and the 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; /**< non-zero, if slave scanning is allowed */ struct semaphore config_sem; /**< semaphore protecting the config_state 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_exit; /**< thread completion object */ uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */ unsigned int idle_cycle_time_pos; /**< time ring buffer position */ #ifdef EC_EOE struct timer_list eoe_timer; /**< EoE timer object */ unsigned int eoe_running; /**< non-zero, if EoE processing is active. */ struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */ uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */ unsigned int eoe_cycle_time_pos; /**< time ring buffer position */ #endif spinlock_t internal_lock; /**< spinlock used in idle mode */ 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 *); /**< externam lock release callback */ void *ext_cb_data; /**< data parameter of external locking callbacks */ struct list_head sii_requests; /**< SII write requests */ struct semaphore sii_sem; /**< semaphore protecting the list of 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. */ struct semaphore sdo_sem; /**< semaphore protecting the list of Sdo access requests */ wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests from user space */ }; /*****************************************************************************/ // 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 *); // mode transitions int ec_master_enter_idle_mode(ec_master_t *); void ec_master_leave_idle_mode(ec_master_t *); int ec_master_enter_operation_mode(ec_master_t *); void ec_master_leave_operation_mode(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. int ec_master_attach_slave_configs(ec_master_t *); ec_slave_t *ec_master_find_slave(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); int ec_master_debug_level(ec_master_t *, int); /*****************************************************************************/ #endif