slave.h

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/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat 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
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_SLAVE_H
#define LIBETHERCAT_SLAVE_H
 
#include <libosal/types.h>
 
#include <assert.h>
 
#include "libethercat/common.h"
#include "libethercat/eeprom.h"
#include "libethercat/dc.h"
#include "libethercat/mbx.h"
 
#define BOOT_2_BOOT      0x0303u  
#define BOOT_2_INIT      0x0301u  
#define BOOT_2_PREOP     0x0302u  
#define BOOT_2_SAFEOP    0x0304u  
#define BOOT_2_OP        0x0308u  
#define UNKNOWN_2_BOOT   0x0003u  
#define UNKNOWN_2_INIT   0x0001u  
#define UNKNOWN_2_PREOP  0x0002u  
#define UNKNOWN_2_SAFEOP 0x0004u  
#define UNKNOWN_2_OP     0x0008u  
#define INIT_2_BOOT      0x0103u  
#define INIT_2_INIT      0x0101u  
#define INIT_2_PREOP     0x0102u  
#define INIT_2_SAFEOP    0x0104u  
#define INIT_2_OP        0x0108u  
#define PREOP_2_BOOT     0x0203u  
#define PREOP_2_INIT     0x0201u  
#define PREOP_2_PREOP    0x0202u  
#define PREOP_2_SAFEOP   0x0204u  
#define PREOP_2_OP       0x0208u  
#define SAFEOP_2_BOOT    0x0403u  
#define SAFEOP_2_INIT    0x0401u  
#define SAFEOP_2_PREOP   0x0402u  
#define SAFEOP_2_SAFEOP  0x0404u  
#define SAFEOP_2_OP      0x0408u  
#define OP_2_BOOT        0x0803u  
#define OP_2_INIT        0x0801u  
#define OP_2_PREOP       0x0802u  
#define OP_2_SAFEOP      0x0804u  
#define OP_2_OP          0x0808u  
 
typedef osal_uint16_t ec_state_transition_t;
 
typedef struct PACKED ec_slave_sm {
    osal_uint16_t adr;          
    osal_uint16_t len;          
    osal_uint32_t flags;        
} PACKED ec_slave_sm_t;
 
typedef struct PACKED ec_slave_fmmu {
    osal_uint32_t log;          
    osal_uint16_t log_len;      
    osal_uint8_t  log_bit_start;
    osal_uint8_t  log_bit_stop; 
    osal_uint16_t phys;         
    osal_uint8_t  phys_bit_start;
    osal_uint8_t  type;         
    osal_uint8_t  active;       
    osal_uint8_t reserverd[3];  
} PACKED ec_slave_fmmu_t;
 
typedef struct ec_slave_subdev {
    ec_pd_t pdin;               
    ec_pd_t pdout;              
} ec_slave_subdev_t;
 
typedef struct ec_init_cmd {
    int type;                   
    int transition;             
    LIST_ENTRY(ec_init_cmd) le; 
 
    int id;                     
    int si_el;                  
    int ca_atn;                 
    osal_char_t data[LEC_MAX_INIT_CMD_DATA];    
    osal_size_t datalen;                        
} ec_init_cmd_t;
 
#define INIT_CMD_SIZE       (sizeof(ec_init_cmd_t))
    
LIST_HEAD(ec_init_cmds, ec_init_cmd);
 
typedef struct worker_arg {
    struct ec *pec;             
    int slave;                  
    ec_state_t state;           
} worker_arg_t;                 
 
typedef struct ec_slave {
    osal_uint32_t slave;            
 
    osal_int16_t auto_inc_address;   
    osal_uint16_t fixed_address;
 
    osal_uint16_t type;         
    osal_uint8_t sm_ch;         
    osal_uint8_t fmmu_ch;       
    osal_uint32_t ram_size;     
    osal_uint16_t features;     
    osal_uint16_t pdi_ctrl;     
    osal_uint8_t link_cnt;      
    osal_uint8_t active_ports;  
    osal_uint16_t ptype;        
    osal_int32_t pdelay;             
    
    int entry_port;             
    int parent;                 
    int port_on_parent;         
 
    int sm_set_by_user;         
    ec_slave_sm_t sm[LEC_MAX_SLAVE_SM];          
    ec_slave_fmmu_t fmmu[LEC_MAX_SLAVE_FMMU];      
    int assigned_pd_group;      
    ec_pd_t pdin;               
    ec_pd_t pdout;              
    osal_size_t subdev_cnt;          
    ec_slave_subdev_t subdevs[LEC_MAX_DS402_SUBDEVS]; 
    ec_mbx_t mbx;               
 
    eeprom_info_t eeprom;       
    ec_dc_info_slave_t dc;      
 
#if LIBETHERCAT_MBX_SUPPORT_EOE == 1
    ec_eoe_slave_config_t eoe;  
#endif
    
    ec_state_t expected_state;  
    ec_state_t act_state;       
 
    osal_mutex_t transition_mutex;  
    osal_bool_t transition_active;  
 
    struct ec_init_cmds init_cmds;
 
    worker_arg_t worker_arg;    
    osal_task_t worker_tid;     
} ec_slave_t;
 
 
#define ec_slave_ptr(ptr, pec, slave) \
    ec_slave_t *(ptr) = (ec_slave_t *)&pec->slaves[slave]; \
    assert((ptr) != NULL);
 
#ifdef __cplusplus
extern "C" {
#endif
#if 0
}
#endif
 
// init slave resources
void ec_slave_init(struct ec *pec, osal_uint16_t slave);
 
// free slave resources
void ec_slave_free(struct ec *pec, osal_uint16_t slave);
 
 
void ec_slave_reset(ec_t *pec, osal_uint16_t slave);
 
 
int ec_slave_set_state(struct ec *pec, osal_uint16_t slave, ec_state_t state);
 
 
int ec_slave_get_state(struct ec *pec, osal_uint16_t slave, 
        ec_state_t *state, osal_uint16_t *alstatcode);
 
 
int ec_slave_generate_mapping(struct ec *pec, osal_uint16_t slave);
 
 
int ec_slave_prepare_state_transition(struct ec *pec, osal_uint16_t slave, 
        ec_state_t state);
 
 
int ec_slave_state_transition(struct ec *pec, osal_uint16_t slave, 
        ec_state_t state);
 
 
void ec_slave_mailbox_coe_init_cmd_init(ec_init_cmd_t *cmd,
        int transition, int id, int si_el, int ca_atn,
        osal_char_t *data, osal_size_t datalen);
 
#if LIBETHERCAT_MBX_SUPPORT_SOE == 1
 
void ec_slave_mailbox_soe_init_cmd_init(ec_init_cmd_t *cmd,
        int transition, int id, int si_el, int ca_atn,
        osal_char_t *data, osal_size_t datalen);
#endif
 
 
void ec_slave_add_init_cmd(ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd);
 
 
void ec_slave_set_dc_config(struct ec *pec, osal_uint16_t slave, 
        int use_dc, int type, osal_uint32_t cycle_time_0, 
        osal_uint32_t cycle_time_1, osal_int32_t cycle_shift);
 
#if LIBETHERCAT_MBX_SUPPORT_EOE == 1
 
void ec_slave_set_eoe_settings(struct ec *pec, osal_uint16_t slave,
        osal_uint8_t *mac, osal_uint8_t *ip_address, osal_uint8_t *subnet, osal_uint8_t *gateway, 
        osal_uint8_t *dns, osal_char_t *dns_name);
#endif
 
const osal_char_t *al_status_code_2_string(int code);
 
#if 0 
{
#endif
#ifdef __cplusplus
}
#endif
 
#endif // LIBETHERCAT_SLAVE_H