master.h

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/******************************************************************************
 *
 *  $Id: master.h 682 2006-11-07 12:13:30Z fp $
 *
 *  Copyright (C) 2006  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
 *  as published by the Free Software Foundation; either version 2 of the
 *  License, or (at your option) any later version.
 *
 *  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 right to use EtherCAT Technology is granted and comes free of
 *  charge under condition of compatibility of product made by
 *  Licensee. People intending to distribute/sell products based on the
 *  code, have to sign an agreement to guarantee that products using
 *  software based on IgH EtherCAT master stay compatible with the actual
 *  EtherCAT specification (which are released themselves as an open
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/

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

#ifndef _EC_MASTER_H_
#define _EC_MASTER_H_

#include <linux/list.h>
#include <linux/sysfs.h>
#include <linux/timer.h>
#include <asm/atomic.h>
#include <asm/semaphore.h>

#include "device.h"
#include "domain.h"
#include "fsm.h"

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

typedef enum
{
    EC_MASTER_MODE_ORPHANED,
    EC_MASTER_MODE_IDLE,
    EC_MASTER_MODE_OPERATION
}
ec_master_mode_t;

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

typedef struct
{
    unsigned int timeouts; 
    unsigned int corrupted; 
    unsigned int skipped; 
    unsigned int unmatched; 
    unsigned long output_jiffies; 
}
ec_stats_t;

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

struct ec_master
{
    struct list_head list; 
    atomic_t available; 
    unsigned int index; 
    struct kobject kobj; 
    ec_device_t *device; 
    struct semaphore device_sem; 
    ec_fsm_t fsm; 
    ec_master_mode_t mode; 
    struct list_head slaves; 
    unsigned int slave_count; 
    struct list_head datagram_queue; 
    uint8_t datagram_index; 
    struct list_head domains; 
    int debug_level; 
    ec_stats_t stats; 
    struct workqueue_struct *workqueue; 
    struct work_struct idle_work; 
    uint32_t idle_cycle_times[HZ]; 
    unsigned int idle_cycle_time_pos; 
    struct timer_list eoe_timer; 
    uint32_t eoe_cycle_times[HZ]; 
    unsigned int eoe_cycle_time_pos; 
    unsigned int eoe_running; 
    unsigned int eoe_checked; 
    struct list_head eoe_handlers; 
    spinlock_t internal_lock; 
    int (*request_cb)(void *); 
    void (*release_cb)(void *); 
    void *cb_data; 
    uint8_t eeprom_write_enable; 
    ec_sdo_request_t *sdo_request; 
    unsigned int sdo_seq_user; 
    unsigned int sdo_seq_master; 
    struct semaphore sdo_sem; 
    struct timer_list sdo_timer; 
    struct completion sdo_complete; 
};

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

// master creation/deletion
int ec_master_init(ec_master_t *, unsigned int, unsigned int);
void ec_master_destroy(ec_master_t *);

// mode transitions
int ec_master_enter_idle_mode(ec_master_t *);
void ec_master_leave_idle_mode(ec_master_t *);
int ec_master_enter_operation_mode(ec_master_t *);
void ec_master_leave_operation_mode(ec_master_t *);

// EoE
void ec_master_eoe_start(ec_master_t *);
void ec_master_eoe_stop(ec_master_t *);

// datagram IO
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

// misc.
void ec_master_output_stats(ec_master_t *);
void ec_master_destroy_slaves(ec_master_t *);
void ec_master_calc_addressing(ec_master_t *);

// helper functions
void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *);
void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);

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

#endif

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