90 lines
3.4 KiB
C
90 lines
3.4 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; either version 2 of the
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* License, or (at your option) any later version.
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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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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT domain structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_DOMAIN_H__
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#define __EC_DOMAIN_H__
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "fmmu_config.h"
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/*****************************************************************************/
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/**
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EtherCAT domain.
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Handles the process data and the therefore needed datagrams of a certain
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group of slaves.
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*/
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struct ec_domain
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{
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struct kobject kobj; /**< kobject. */
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struct list_head list; /**< List item. */
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ec_master_t *master; /**< EtherCAT master owning the domain. */
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unsigned int index; /**< Index (just a number). */
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size_t data_size; /**< Size of the process data. */
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unsigned int expected_working_counter; /**< Expected working counter. */
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uint8_t *data; /**< Memory for the process data. */
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ec_origin_t data_origin; /**< Origin of the \a data memory. */
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struct list_head datagrams; /**< Datagrams for process data exchange. */
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uint32_t logical_base_address; /**< Logical offset address of the
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process data. */
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unsigned int working_counter; /**< Last working counter value. */
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unsigned int working_counter_changes; /**< Working counter changes
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since last notification. */
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unsigned long notify_jiffies; /**< Time of last notification. */
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};
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/*****************************************************************************/
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int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_destroy(ec_domain_t *);
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void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);
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int ec_domain_finish(ec_domain_t *, uint32_t);
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/*****************************************************************************/
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#endif
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