179 lines
6.5 KiB
C
179 lines
6.5 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 slave structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_SLAVE_H__
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#define __EC_SLAVE_H__
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "../include/ecrt.h"
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#include "globals.h"
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#include "datagram.h"
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#include "pdo.h"
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#include "sync.h"
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#include "sdo.h"
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/*****************************************************************************/
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/** Slave information interface data.
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*/
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typedef struct {
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// Non-category data
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uint16_t alias; /**< Configured station alias. */
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uint32_t vendor_id; /**< Vendor ID. */
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uint32_t product_code; /**< Vendor-specific product code. */
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uint32_t revision_number; /**< Revision number. */
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uint32_t serial_number; /**< Serial number. */
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uint16_t rx_mailbox_offset; /**< Mailbox address (master to slave). */
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uint16_t rx_mailbox_size; /**< Mailbox size (master to slave). */
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uint16_t tx_mailbox_offset; /**< Mailbox address (slave to master). */
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uint16_t tx_mailbox_size; /**< Mailbox size (slave to master). */
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uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
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// Strings
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char **strings; /**< Strings in SII categories. */
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unsigned int string_count; /**< Number of SII strings. */
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// General
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unsigned int has_general; /**< General category present. */
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char *group; /**< Group name. */
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char *image; /**< Image name. */
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char *order; /**< Order number. */
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char *name; /**< Slave name. */
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uint8_t physical_layer[EC_SLAVE_MAX_PORTS]; /**< Port media. */
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ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
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ec_sii_general_flags_t general_flags; /**< General flags. */
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int16_t current_on_ebus; /**< Power consumption in mA. */
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// SyncM
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ec_sync_t *syncs; /**< SYNC MANAGER categories. */
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unsigned int sync_count; /**< Number of sync managers. */
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// [RT]XPDO
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struct list_head pdos; /**< SII [RT]XPDO categories. */
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} ec_sii_t;
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/*****************************************************************************/
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/** EtherCAT slave port information.
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*/
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typedef struct {
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uint8_t dl_link; /**< Link detected. */
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uint8_t dl_loop; /**< Loop closed. */
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uint8_t dl_signal; /**< Detected signal on RX port. */
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} ec_slave_port_t;
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/*****************************************************************************/
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/** EtherCAT slave.
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*/
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struct ec_slave
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{
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ec_master_t *master; /**< Master owning the slave. */
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// addresses
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uint16_t ring_position; /**< Ring position. */
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uint16_t station_address; /**< Configured station address. */
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// configuration
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ec_slave_config_t *config; /**< Current configuration. */
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ec_slave_state_t requested_state; /**< Requested application state. */
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ec_slave_state_t current_state; /**< Current application state. */
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unsigned int error_flag; /**< Stop processing after an error. */
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unsigned int force_config; /**< Force (re-)configuration. */
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// base data
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uint8_t base_type; /**< Slave type. */
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uint8_t base_revision; /**< Revision. */
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uint16_t base_build; /**< Build number. */
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uint16_t base_fmmu_count; /**< Number of supported FMMUs. */
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// data link status
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ec_slave_port_t ports[EC_SLAVE_MAX_PORTS];
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// SII
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uint16_t *sii_words; /**< Complete SII image. */
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size_t sii_nwords; /**< Size of the SII contents in words. */
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// Slave information interface
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ec_sii_t sii; /**< Extracted SII data. */
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struct list_head sdo_dictionary; /**< Sdo dictionary list */
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uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
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unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
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};
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/*****************************************************************************/
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// slave construction/destruction
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void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
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void ec_slave_clear(ec_slave_t *);
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void ec_slave_clear_sync_managers(ec_slave_t *);
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void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
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void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
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// SII categories
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int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
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ec_direction_t);
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// misc.
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ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t);
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void ec_slave_sdo_dict_info(const ec_slave_t *,
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unsigned int *, unsigned int *);
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ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
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const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
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const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
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uint16_t ec_slave_sdo_count(const ec_slave_t *);
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const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
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int ec_slave_write_sii(ec_slave_t *, uint16_t, unsigned int,
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const uint16_t *);
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/*****************************************************************************/
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#endif
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