83 lines
3.1 KiB
C
83 lines
3.1 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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/**
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\file
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EtherCAT domain structure.
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*/
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/****************************************************************************/
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#ifndef __EC_DOMAIN_H__
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#define __EC_DOMAIN_H__
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#include <linux/list.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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#include "fmmu_config.h"
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/****************************************************************************/
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/** EtherCAT domain.
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*
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* Handles the process data and the therefore needed datagrams of a certain
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* group of slaves.
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*/
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struct ec_domain
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{
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struct list_head list; /**< List item. */
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ec_master_t *master; /**< EtherCAT master owning the domain. */
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unsigned int index; /**< Index (just a number). */
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struct list_head fmmu_configs; /**< FMMU configurations contained. */
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size_t data_size; /**< Size of the process data. */
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uint8_t *data; /**< Memory for the process data. */
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ec_origin_t data_origin; /**< Origin of the \a data memory. */
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uint32_t logical_base_address; /**< Logical offset address of the
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process data. */
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struct list_head datagram_pairs; /**< Datagrams pairs (main/backup) for
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process data exchange. */
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uint16_t working_counter[EC_MAX_NUM_DEVICES]; /**< Last working counter
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values. */
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uint16_t expected_working_counter; /**< Expected working counter. */
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unsigned int working_counter_changes; /**< Working counter changes
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since last notification. */
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unsigned int redundancy_active; /**< Non-zero, if redundancy is in use. */
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unsigned long notify_jiffies; /**< Time of last notification. */
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};
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/****************************************************************************/
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void ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_clear(ec_domain_t *);
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void ec_domain_add_fmmu_config(ec_domain_t *, ec_fmmu_config_t *);
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int ec_domain_finish(ec_domain_t *, uint32_t);
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unsigned int ec_domain_fmmu_count(const ec_domain_t *);
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const ec_fmmu_config_t *ec_domain_find_fmmu(const ec_domain_t *, unsigned int);
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/****************************************************************************/
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#endif
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