/****************************************************************************** * * $Id$ * * Copyright (C) 2006-2008 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 version 2, as * published by the Free Software Foundation. * * 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 license mentioned above concerns the source code only. Using the * EtherCAT technology and brand is only permitted in compliance with the * industrial property and similar rights of Beckhoff Automation GmbH. * *****************************************************************************/ /** \file EtherCAT slave structure. */ /*****************************************************************************/ #ifndef __EC_SLAVE_H__ #define __EC_SLAVE_H__ #include #include #include "globals.h" #include "datagram.h" #include "pdo.h" #include "sync.h" #include "sdo.h" /*****************************************************************************/ /** Slave information interface data. */ typedef struct { // Non-category data uint16_t alias; /**< Configured station alias. */ uint32_t vendor_id; /**< Vendor ID. */ uint32_t product_code; /**< Vendor-specific product code. */ uint32_t revision_number; /**< Revision number. */ uint32_t serial_number; /**< Serial number. */ uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */ uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */ uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */ uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */ uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */ uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */ uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */ uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */ uint16_t mailbox_protocols; /**< Supported mailbox protocols. */ // Strings char **strings; /**< Strings in SII categories. */ unsigned int string_count; /**< Number of SII strings. */ // General unsigned int has_general; /**< General category present. */ char *group; /**< Group name. */ char *image; /**< Image name. */ char *order; /**< Order number. */ char *name; /**< Slave name. */ uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */ ec_sii_coe_details_t coe_details; /**< CoE detail flags. */ ec_sii_general_flags_t general_flags; /**< General flags. */ int16_t current_on_ebus; /**< Power consumption in mA. */ // SyncM ec_sync_t *syncs; /**< SYNC MANAGER categories. */ unsigned int sync_count; /**< Number of sync managers. */ // [RT]XPDO struct list_head pdos; /**< SII [RT]XPDO categories. */ } ec_sii_t; /*****************************************************************************/ /** EtherCAT slave. */ struct ec_slave { ec_master_t *master; /**< Master owning the slave. */ // addresses uint16_t ring_position; /**< Ring position. */ uint16_t station_address; /**< Configured station address. */ // configuration ec_slave_config_t *config; /**< Current configuration. */ ec_slave_state_t requested_state; /**< Requested application state. */ ec_slave_state_t current_state; /**< Current application state. */ unsigned int error_flag; /**< Stop processing after an error. */ unsigned int force_config; /**< Force (re-)configuration. */ uint16_t configured_rx_mailbox_offset; uint16_t configured_rx_mailbox_size; uint16_t configured_tx_mailbox_offset; uint16_t configured_tx_mailbox_size; // base data uint8_t base_type; /**< Slave type. */ uint8_t base_revision; /**< Revision. */ uint16_t base_build; /**< Build number. */ uint8_t base_fmmu_count; /**< Number of supported FMMUs. */ uint8_t base_sync_count; /**< Number of supported sync managers. */ ec_slave_port_desc_t base_ports[EC_MAX_PORTS]; /**< Port descriptors. */ uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */ uint8_t base_dc_supported; /**< Distributed clocks are supported. */ ec_slave_dc_range_t base_dc_range; /**< DC range. */ uint8_t has_dc_system_time; /**< The slave supports the DC system time register. Otherwise it can only be used for delay measurement. */ uint32_t dc_receive_times[EC_MAX_PORTS]; /**< Port receive times for delay measurement. */ // data link status ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */ // SII uint16_t *sii_words; /**< Complete SII image. */ size_t sii_nwords; /**< Size of the SII contents in words. */ // Slave information interface ec_sii_t sii; /**< Extracted SII data. */ struct list_head sdo_dictionary; /**< SDO dictionary list */ uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */ unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */ }; /*****************************************************************************/ // slave construction/destruction void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); void ec_slave_clear(ec_slave_t *); void ec_slave_clear_sync_managers(ec_slave_t *); void ec_slave_request_state(ec_slave_t *, ec_slave_state_t); void ec_slave_set_state(ec_slave_t *, ec_slave_state_t); // SII categories int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t); int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t); int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t); int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, ec_direction_t); // misc. ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); void ec_slave_sdo_dict_info(const ec_slave_t *, unsigned int *, unsigned int *); ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t); const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t); const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t); uint16_t ec_slave_sdo_count(const ec_slave_t *); const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t); void ec_slave_attach_pdo_names(ec_slave_t *); /*****************************************************************************/ #endif