slave.h

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/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2012  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.
 *
 *****************************************************************************/

/*****************************************************************************/

#ifndef __EC_SLAVE_H__
#define __EC_SLAVE_H__

#include <linux/list.h>
#include <linux/kobject.h>
#include <linux/rtmutex.h>

#include "globals.h"
#include "datagram.h"
#include "pdo.h"
#include "sync.h"
#include "sdo.h"
#include "fsm_slave.h"

/*****************************************************************************/

#define EC_SLAVE_INFO(slave, fmt, args...) \
    printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
            slave->ring_position, ##args)

#define EC_SLAVE_ERR(slave, fmt, args...) \
    printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
            slave->ring_position, ##args)

#define EC_SLAVE_WARN(slave, fmt, args...) \
    printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
            slave->master->index, slave->ring_position, ##args)

#define EC_SLAVE_DBG(slave, level, fmt, args...) \
    do { \
        if (slave->master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
                    slave->master->index, slave->ring_position, ##args); \
        } \
    } while (0)

/*****************************************************************************/

#ifdef EC_LOOP_CONTROL

typedef enum {
    EC_SLAVE_PORT_DOWN,
    EC_SLAVE_PORT_WAIT,
    EC_SLAVE_PORT_UP
} ec_slave_port_state_t;

#define EC_PORT_WAIT_MS 2000

#endif

/*****************************************************************************/

typedef struct {
    ec_slave_port_desc_t desc; 
    ec_slave_port_link_t link; 
    ec_slave_t *next_slave; 
    uint32_t receive_time; 
    uint32_t delay_to_next_dc; 
#ifdef EC_LOOP_CONTROL
    ec_slave_port_state_t state; 
    unsigned long link_detection_jiffies; 
#endif
} ec_slave_port_t;

/*****************************************************************************/

typedef struct {
    // Non-category data
    uint16_t alias; 
    uint32_t vendor_id; 
    uint32_t product_code; 
    uint32_t revision_number; 
    uint32_t serial_number; 
    uint16_t boot_rx_mailbox_offset; 
    uint16_t boot_rx_mailbox_size; 
    uint16_t boot_tx_mailbox_offset; 
    uint16_t boot_tx_mailbox_size; 
    uint16_t std_rx_mailbox_offset; 
    uint16_t std_rx_mailbox_size; 
    uint16_t std_tx_mailbox_offset; 
    uint16_t std_tx_mailbox_size; 
    uint16_t mailbox_protocols; 
    // Strings
    char **strings; 
    unsigned int string_count; 
    // General
    unsigned int has_general; 
    char *group; 
    char *image; 
    char *order; 
    char *name; 
    uint8_t physical_layer[EC_MAX_PORTS]; 
    ec_sii_coe_details_t coe_details; 
    ec_sii_general_flags_t general_flags; 
    int16_t current_on_ebus; 
    // SyncM
    ec_sync_t *syncs; 
    unsigned int sync_count; 
    // [RT]XPDO
    struct list_head pdos; 
} ec_sii_t;

/*****************************************************************************/

struct ec_slave
{
    ec_master_t *master; 
    ec_device_index_t device_index; 
    // addresses
    uint16_t ring_position; 
    uint16_t station_address; 
    uint16_t effective_alias; 
    ec_slave_port_t ports[EC_MAX_PORTS]; 
    // configuration
    ec_slave_config_t *config; 
    ec_slave_state_t requested_state; 
    ec_slave_state_t current_state; 
    unsigned int error_flag; 
    unsigned int force_config; 
    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; 
    uint8_t base_revision; 
    uint16_t base_build; 
    uint8_t base_fmmu_count; 
    uint8_t base_sync_count; 
    uint8_t base_fmmu_bit_operation; 
    uint8_t base_dc_supported; 
    ec_slave_dc_range_t base_dc_range; 
    uint8_t has_dc_system_time; 
    uint32_t transmission_delay; 
    // SII
    uint16_t *sii_words; 
    size_t sii_nwords; 
    // Slave information interface
    ec_sii_t sii; 
    struct list_head sdo_dictionary; 
    uint8_t sdo_dictionary_fetched; 
    unsigned long jiffies_preop; 
    struct list_head sdo_requests; 
    struct list_head reg_requests; 
    struct list_head foe_requests; 
    struct list_head soe_requests; 
    struct list_head eoe_requests; 
    struct list_head dict_requests; 
    ec_fsm_slave_t fsm; 
    uint8_t read_mbox_busy; 
    struct rt_mutex mbox_sem; 
#ifdef EC_EOE
    ec_mbox_data_t mbox_eoe_frag_data; 
    ec_mbox_data_t mbox_eoe_init_data; 
#endif
    ec_mbox_data_t mbox_coe_data; 
    ec_mbox_data_t mbox_foe_data; 
    ec_mbox_data_t mbox_soe_data; 
    ec_mbox_data_t mbox_voe_data; 
    uint8_t valid_mbox_data; 
};

/*****************************************************************************/

// slave construction/destruction
void ec_slave_init(ec_slave_t *, ec_master_t *, ec_device_index_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_dl_status(ec_slave_t *, uint16_t);
void ec_slave_set_al_status(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 *);

void ec_slave_calc_port_delays(ec_slave_t *);
void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);

void ec_read_mbox_lock_clear(ec_slave_t *);
int ec_read_mbox_locked(ec_slave_t *);

/*****************************************************************************/

#endif