slave_config.h

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/*****************************************************************************
 *
 *  Copyright (C) 2006-2024  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
 *
 ****************************************************************************/

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

#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"
#include "flag.h"

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

#define EC_CONFIG_INFO(sc, fmt, args...) \
    printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \
            sc->alias, sc->position, ##args)

#define EC_CONFIG_ERR(sc, fmt, args...) \
    printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \
            sc->alias, sc->position, ##args)

#define EC_CONFIG_WARN(sc, fmt, args...) \
    printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \
            sc->master->index, sc->alias, sc->position, ##args)

#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)

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

struct ec_slave_config {
    struct list_head list; 
    ec_master_t *master; 
    uint16_t alias; 
    uint16_t position; 
    uint32_t vendor_id; 
    uint32_t product_code; 
    uint16_t watchdog_divider; 
    uint16_t watchdog_intervals; 
    ec_slave_t *slave; 
    ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; 
    ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; 
    uint8_t used_fmmus; 
    uint16_t dc_assign_activate; 
    ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; 
    struct list_head sdo_configs; 
    struct list_head sdo_requests; 
    struct list_head soe_requests; 
    struct list_head voe_handlers; 
    struct list_head reg_requests; 
    struct list_head soe_configs; 
    struct list_head flags; 
    struct list_head al_timeouts; 
#ifdef EC_EOE
    ec_eoe_request_t eoe_ip_param_request; 
#endif

    ec_coe_emerg_ring_t emerg_ring; 
};

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

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);
unsigned int ec_slave_config_flag_count(const ec_slave_config_t *);
const ec_flag_t *ec_slave_config_get_flag_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_soe_request_t *ec_slave_config_find_soe_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_flag_t *ec_slave_config_find_flag(ec_slave_config_t *, const char *);

ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
        ec_slave_config_t *, uint16_t, uint8_t, size_t);
ec_soe_request_t *ecrt_slave_config_create_soe_request_err(
        ec_slave_config_t *, uint8_t, uint16_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);

unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *,
        ec_slave_state_t, ec_slave_state_t);

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

#endif