129 lines
4.0 KiB
C
129 lines
4.0 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; version 2 of the License.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT master structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_MASTER_H_
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#define _EC_MASTER_H_
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#include <linux/list.h>
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#include <linux/sysfs.h>
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#include <linux/timer.h>
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#include "device.h"
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#include "domain.h"
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/*****************************************************************************/
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/**
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EtherCAT master mode.
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*/
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typedef enum
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{
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EC_MASTER_MODE_IDLE,
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EC_MASTER_MODE_FREERUN,
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EC_MASTER_MODE_RUNNING
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}
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ec_master_mode_t;
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/*****************************************************************************/
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/**
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Cyclic statistics.
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*/
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typedef struct
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{
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unsigned int timeouts; /**< command timeouts */
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unsigned int delayed; /**< delayed commands */
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unsigned int corrupted; /**< corrupted frames */
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unsigned int unmatched; /**< unmatched commands */
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unsigned int eoe_errors; /**< Ethernet-over-EtherCAT errors */
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cycles_t t_last; /**< time of last output */
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}
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ec_stats_t;
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/*****************************************************************************/
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/**
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EtherCAT master.
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Manages slaves, domains and IO.
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*/
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struct ec_master
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{
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struct list_head list; /**< list item */
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struct kobject kobj; /**< kobject */
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unsigned int index; /**< master index */
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struct list_head slaves; /**< list of slaves on the bus */
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unsigned int slave_count; /**< number of slaves on the bus */
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ec_device_t *device; /**< EtherCAT device */
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struct list_head command_queue; /**< command queue */
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uint8_t command_index; /**< current command index */
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struct list_head domains; /**< list of domains */
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ec_command_t simple_command; /**< command structure for initialization */
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ec_command_t watch_command; /**< command for watching the slaves */
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unsigned int slaves_responding; /**< number of responding slaves */
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ec_slave_state_t slave_states; /**< states of the responding slaves */
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int debug_level; /**< master debug level */
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ec_stats_t stats; /**< cyclic statistics */
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unsigned int timeout; /**< timeout in synchronous IO */
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struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
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unsigned int reserved; /**< true, if the master is reserved for RT */
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struct timer_list freerun_timer; /**< timer object for free run mode */
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ec_master_mode_t mode; /**< master mode */
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};
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/*****************************************************************************/
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// master creation and deletion
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int ec_master_init(ec_master_t *, unsigned int);
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void ec_master_clear(struct kobject *);
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void ec_master_reset(ec_master_t *);
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// free run
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void ec_master_freerun_start(ec_master_t *);
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void ec_master_freerun_stop(ec_master_t *);
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// IO
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void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
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void ec_master_queue_command(ec_master_t *, ec_command_t *);
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int ec_master_simple_io(ec_master_t *, ec_command_t *);
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// slave management
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int ec_master_bus_scan(ec_master_t *);
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// misc.
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void ec_master_output_stats(ec_master_t *);
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void ec_master_run_eoe(ec_master_t *);
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/*****************************************************************************/
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#endif
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