slave.h

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/******************************************************************************
 *
 *  $Id: slave.h 490 2006-08-02 12:25:25Z 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_SLAVE_H_
#define _EC_SLAVE_H_

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

#include "globals.h"
#include "datagram.h"
#include "types.h"

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

typedef enum
{
    EC_SLAVE_STATE_UNKNOWN = 0x00,
    EC_SLAVE_STATE_INIT = 0x01,
    EC_SLAVE_STATE_PREOP = 0x02,
    EC_SLAVE_STATE_SAVEOP = 0x04,
    EC_SLAVE_STATE_OP = 0x08,
    EC_ACK = 0x10
}
ec_slave_state_t;

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

enum
{
    EC_MBOX_AOE = 0x01, 
    EC_MBOX_EOE = 0x02, 
    EC_MBOX_COE = 0x04, 
    EC_MBOX_FOE = 0x08, 
    EC_MBOX_SOE = 0x10, 
    EC_MBOX_VOE = 0x20  
};

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

typedef struct
{
    const ec_domain_t *domain; 
    const ec_sync_t *sync; 
    uint32_t logical_start_address; 
}
ec_fmmu_t;

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

typedef struct
{
    struct list_head list; 
    size_t size; 
    char *data; 
}
ec_eeprom_string_t;

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

typedef struct
{
    struct list_head list; 
    unsigned int index; 
    uint16_t physical_start_address; 
    uint16_t length; 
    uint8_t control_register; 
    uint8_t enable; 
}
ec_eeprom_sync_t;

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

typedef enum
{
    EC_RX_PDO, 
    EC_TX_PDO 
}
ec_pdo_type_t;

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

typedef struct
{
    struct list_head list; 
    ec_pdo_type_t type; 
    uint16_t index; 
    uint8_t sync_manager; 
    char *name; 
    struct list_head entries; 
}
ec_eeprom_pdo_t;

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

typedef struct
{
    struct list_head list; 
    uint16_t index; 
    uint8_t subindex; 
    char *name; 
    uint8_t bit_length; 
}
ec_eeprom_pdo_entry_t;

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

typedef struct
{
    struct list_head list; 
    uint16_t index; 
    //uint16_t type;
    uint8_t object_code; 
    char *name; 
    struct list_head entries; 
}
ec_sdo_t;

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

typedef struct
{
    struct list_head list; 
    uint8_t subindex; 
    uint16_t data_type; 
    uint16_t bit_length; 
    char *name; 
}
ec_sdo_entry_t;

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

typedef struct
{
    struct list_head list; 
    const ec_field_t *field; 
    size_t size; 
}
ec_varsize_t;

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

struct ec_slave
{
    struct list_head list; 
    struct kobject kobj; 
    ec_master_t *master; 
    // addresses
    uint16_t ring_position; 
    uint16_t station_address; 
    uint16_t coupler_index; 
    uint16_t coupler_subindex; 
    // base data
    uint8_t base_type; 
    uint8_t base_revision; 
    uint16_t base_build; 
    uint16_t base_fmmu_count; 
    uint16_t base_sync_count; 
    // data link status
    uint8_t dl_link[4]; 
    uint8_t dl_loop[4]; 
    uint8_t dl_signal[4]; 
    // slave information interface
    uint16_t sii_alias; 
    uint32_t sii_vendor_id; 
    uint32_t sii_product_code; 
    uint32_t sii_revision_number; 
    uint32_t sii_serial_number; 
    uint16_t sii_rx_mailbox_offset; 
    uint16_t sii_rx_mailbox_size; 
    uint16_t sii_tx_mailbox_offset; 
    uint16_t sii_tx_mailbox_size; 
    uint16_t sii_mailbox_protocols; 
    uint8_t sii_physical_layer[4]; 
    const ec_slave_type_t *type; 
    uint8_t registered; 
    ec_fmmu_t fmmus[EC_MAX_FMMUS]; 
    uint8_t fmmu_count; 
    uint8_t *eeprom_data; 
    uint16_t eeprom_size; 
    struct list_head eeprom_strings; 
    struct list_head eeprom_syncs; 
    struct list_head eeprom_pdos; 
    char *eeprom_group; 
    char *eeprom_image; 
    char *eeprom_order; 
    char *eeprom_name; 
    uint16_t *new_eeprom_data; 
    size_t new_eeprom_size; 
    struct list_head sdo_dictionary; 
    ec_slave_state_t requested_state; 
    ec_slave_state_t current_state; 
    unsigned int error_flag; 
    unsigned int online; 
    struct list_head varsize_fields; 
};

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

// slave construction/destruction
int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
void ec_slave_clear(struct kobject *);

// slave control
int ec_slave_fetch(ec_slave_t *);
int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);
int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);
int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);
int ec_slave_state_change(ec_slave_t *, uint8_t);
int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
                          const ec_sync_t *);

// CoE
int ec_slave_fetch_sdo_list(ec_slave_t *);

// state machine
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

// misc.
size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *);
uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *,
                                        const ec_eeprom_sync_t *);

void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);

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

#endif

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