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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.
*
*****************************************************************************/
/**
\file
EtherCAT slave configuration structure.
*/
/*****************************************************************************/
#ifndef __EC_SLAVE_CONFIG_H__
#define __EC_SLAVE_CONFIG_H__
#include <linux/list.h>
#include "globals.h"
#include "slave.h"
#include "sync_config.h"
#include "fmmu_config.h"
#include "coe_emerg_ring.h"
/*****************************************************************************/
/** Convenience macro for printing configuration-specific information to
* syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
* and ALIAS and POSITION identify the configuration.
*
* \param sc EtherCAT slave configuration
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_CONFIG_INFO(sc, fmt, args...) \
printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
sc->alias, sc->position, ##args)
/** Convenience macro for printing configuration-specific errors to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
* and ALIAS and POSITION identify the configuration.
*
* \param sc EtherCAT slave configuration
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_CONFIG_ERR(sc, fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
sc->alias, sc->position, ##args)
/** Convenience macro for printing configuration-specific warnings to syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
* and ALIAS and POSITION identify the configuration.
*
* \param sc EtherCAT slave configuration
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_CONFIG_WARN(sc, fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
sc->master->index, sc->alias, sc->position, ##args)
/** Convenience macro for printing configuration-specific debug messages to
* syslog.
*
* This will print the message in \a fmt with a prefixed
* "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index
* and ALIAS and POSITION identify the configuration.
*
* \param sc EtherCAT slave configuration
* \param level Debug level. Master's debug level must be >= \a level for
* output.
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
#define EC_CONFIG_DBG(sc, level, fmt, args...) \
do { \
if (sc->master->debug_level >= level) { \
printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \
sc->master->index, sc->alias, sc->position, ##args); \
} \
} while (0)
/*****************************************************************************/
/** EtherCAT slave configuration.
*/
struct ec_slave_config {
struct list_head list; /**< List item. */
ec_master_t *master; /**< Master owning the slave configuration. */
uint16_t alias; /**< Slave alias. */
uint16_t position; /**< Index after alias. If alias is zero, this is the
ring position. */
uint32_t vendor_id; /**< Slave vendor ID. */
uint32_t product_code; /**< Slave product code. */
uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
intervals (see spec. reg. 0x0400). */
uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
spec. reg. 0x0420). */
ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
offline. */
ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; /**< Sync manager
configurations. */
ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
uint8_t used_fmmus; /**< Number of FMMUs used. */
uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; /**< DC sync signals. */
struct list_head sdo_configs; /**< List of SDO configurations. */
struct list_head sdo_requests; /**< List of SDO requests. */
struct list_head voe_handlers; /**< List of VoE handlers. */
struct list_head reg_requests; /**< List of register requests. */
struct list_head soe_configs; /**< List of SoE configurations. */
ec_coe_emerg_ring_t emerg_ring; /**< CoE emergency ring buffer. */
};
/*****************************************************************************/
void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
uint16_t, uint32_t, uint32_t);
void ec_slave_config_clear(ec_slave_config_t *);
int ec_slave_config_attach(ec_slave_config_t *);
void ec_slave_config_detach(ec_slave_config_t *);
void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *, unsigned int);
unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *, unsigned int);
ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
unsigned int);
ec_reg_request_t *ec_slave_config_find_reg_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
unsigned int);
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *, uint16_t, uint8_t, size_t);
ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
ec_slave_config_t *, size_t);
ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
ec_slave_config_t *, size_t);
/*****************************************************************************/
#endif
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