master/master.c
author Florian Pose <fp@igh-essen.com>
Sun, 04 Mar 2007 16:15:23 +0000
changeset 608 029d70ceaaf1
parent 601 d6d951b766e3
child 610 29489a43ecee
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/string.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include "../include/ecrt.h"
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#include "globals.h"
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#include "master.h"
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#include "slave.h"
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#include "device.h"
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#include "datagram.h"
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#include "ethernet.h"
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/*****************************************************************************/
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void ec_master_clear(struct kobject *);
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void ec_master_destroy_domains(ec_master_t *);
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void ec_master_sync_io(ec_master_t *);
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static int ec_master_thread(void *);
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void ec_master_eoe_run(unsigned long);
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void ec_master_check_sdo(unsigned long);
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int ec_master_measure_bus_time(ec_master_t *);
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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
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                                  const char *, size_t);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(debug_level);
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static struct attribute *ec_def_attrs[] = {
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    &attr_info,
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    &attr_debug_level,
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    NULL,
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};
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static struct sysfs_ops ec_sysfs_ops = {
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    .show = &ec_show_master_attribute,
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    .store = ec_store_master_attribute
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};
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static struct kobj_type ktype_ec_master = {
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    .release = ec_master_clear,
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    .sysfs_ops = &ec_sysfs_ops,
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    .default_attrs = ec_def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   Master constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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        struct kobject *module_kobj, /**< kobject of the master module */
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        unsigned int index, /**< master index */
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        const ec_device_id_t *main_id, /**< ID of main device */
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        const ec_device_id_t *backup_id, /**< ID of main device */
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        unsigned int eoeif_count /**< number of EoE interfaces */
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        )
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{
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    ec_eoe_t *eoe, *next_eoe;
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    unsigned int i;
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    atomic_set(&master->available, 1);
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    master->index = index;
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    master->main_device_id = main_id;
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    master->backup_device_id = backup_id;
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    init_MUTEX(&master->device_sem);
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    master->mode = EC_MASTER_MODE_ORPHANED;
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    INIT_LIST_HEAD(&master->slaves);
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    master->slave_count = 0;
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    INIT_LIST_HEAD(&master->datagram_queue);
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    master->datagram_index = 0;
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    INIT_LIST_HEAD(&master->domains);
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    master->debug_level = 0;
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    master->stats.timeouts = 0;
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    master->stats.corrupted = 0;
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    master->stats.skipped = 0;
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Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   133
    master->stats.unmatched = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   134
    master->stats.output_jiffies = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   135
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   136
    for (i = 0; i < HZ; i++) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   137
        master->idle_cycle_times[i] = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   138
        master->eoe_cycle_times[i] = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   139
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   140
    master->idle_cycle_time_pos = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   141
    master->eoe_cycle_time_pos = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   142
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   143
    init_timer(&master->eoe_timer);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   144
    master->eoe_timer.function = ec_master_eoe_run;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   145
    master->eoe_timer.data = (unsigned long) master;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   146
    master->eoe_running = 0;
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   147
    master->eoe_checked = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   148
    INIT_LIST_HEAD(&master->eoe_handlers);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   149
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   150
    master->internal_lock = SPIN_LOCK_UNLOCKED;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   151
    master->request_cb = NULL;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   152
    master->release_cb = NULL;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   153
    master->cb_data = NULL;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   154
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   155
    INIT_LIST_HEAD(&master->eeprom_requests);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   156
    init_MUTEX(&master->eeprom_sem);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   157
    init_waitqueue_head(&master->eeprom_queue);
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   158
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   159
    master->sdo_request = NULL;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   160
    master->sdo_seq_user = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   161
    master->sdo_seq_master = 0;
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   162
    init_MUTEX(&master->sdo_sem);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   163
    init_timer(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   164
    master->sdo_timer.function = ec_master_check_sdo;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   165
    master->sdo_timer.data = (unsigned long) master;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   166
    init_completion(&master->sdo_complete);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   167
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   168
    // init devices
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   169
    if (ec_device_init(&master->main_device, master))
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   170
        goto out_return;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   171
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   172
    if (ec_device_init(&master->backup_device, master))
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   173
        goto out_clear_main;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   174
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   175
    // create EoE handlers
321
64e20e6e9d0b Renamed master parameter ec_eoe_devices to ec_eoeif_count.
Florian Pose <fp@igh-essen.com>
parents: 318
diff changeset
   176
    for (i = 0; i < eoeif_count; i++) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   177
        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   178
            EC_ERR("Failed to allocate EoE-Object.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   179
            goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   180
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   181
        if (ec_eoe_init(eoe)) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   182
            kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   183
            goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   184
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   185
        list_add_tail(&eoe->list, &master->eoe_handlers);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   186
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   187
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   188
    // init state machine datagram
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   189
    ec_datagram_init(&master->fsm_datagram);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   190
    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   191
        EC_ERR("Failed to allocate FSM datagram.\n");
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   192
        goto out_clear_eoe;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   193
    }
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   194
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   195
    // create state machine object
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   196
    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   197
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   198
    // init kobject and add it to the hierarchy
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   199
    memset(&master->kobj, 0x00, sizeof(struct kobject));
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   200
    kobject_init(&master->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   201
    master->kobj.ktype = &ktype_ec_master;
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   202
    master->kobj.parent = module_kobj;
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   203
    
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   204
    if (kobject_set_name(&master->kobj, "master%i", index)) {
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   205
        EC_ERR("Failed to set master kobject name.\n");
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   206
        kobject_put(&master->kobj);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   207
        return -1;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   208
    }
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   209
    
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
   210
    if (kobject_add(&master->kobj)) {
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   211
        EC_ERR("Failed to add master kobject.\n");
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
   212
        kobject_put(&master->kobj);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
   213
        return -1;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
   214
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   215
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   216
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   217
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   218
out_clear_eoe:
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   219
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   220
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   221
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   222
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   223
    }
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   224
    ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   225
out_clear_main:
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   226
    ec_device_clear(&master->main_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   227
out_return:
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   228
    return -1;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 35
diff changeset
   231
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   234
   Master destructor.
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   235
   Clears the kobj-hierarchy bottom up and frees the master.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   236
*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   237
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   238
void ec_master_destroy(ec_master_t *master /**< EtherCAT master */)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   239
{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   240
    ec_master_destroy_slaves(master);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   241
    ec_master_destroy_domains(master);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   242
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   243
    // destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   244
    kobject_del(&master->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   245
    kobject_put(&master->kobj); // free master
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   246
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   247
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   248
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   249
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   250
/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   251
   Clear and free master.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   252
   This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   253
   once there are no more references to it.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   254
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   255
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   256
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
178
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diff changeset
   257
{
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   258
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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   259
    ec_eoe_t *eoe, *next_eoe;
483
1a507e9ab735 Minor change in master.c.
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   260
    ec_datagram_t *datagram, *next_datagram;
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   261
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
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    // list of EEPROM requests is empty,
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   263
    // otherwise master could not be cleared.
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   264
483
1a507e9ab735 Minor change in master.c.
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   265
    // dequeue all datagrams
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   266
    list_for_each_entry_safe(datagram, next_datagram,
446
8fede404c01f Persistent slave lists.
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   267
                             &master->datagram_queue, queue) {
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   268
        datagram->state = EC_DATAGRAM_ERROR;
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   269
        list_del_init(&datagram->queue);
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   270
    }
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528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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    ec_fsm_master_clear(&master->fsm);
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    ec_datagram_clear(&master->fsm_datagram);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   274
251
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   275
    // clear EoE objects
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   276
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
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        list_del(&eoe->list);
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   278
        ec_eoe_clear(eoe);
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   279
        kfree(eoe);
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   280
    }
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17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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    ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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    ec_device_clear(&master->main_device);
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448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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    EC_INFO("Master %i freed.\n", master->index);
418
7a43437bc48b Fixed memory leak in master and slave destructors.
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7a43437bc48b Fixed memory leak in master and slave destructors.
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    kfree(master);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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   288
}
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9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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/*****************************************************************************/
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   292
/**
448
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   Destroy all slaves.
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   294
*/
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   296
void ec_master_destroy_slaves(ec_master_t *master)
238
b4960499098f Added finite state machine (FSM) processing.
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   297
{
b4960499098f Added finite state machine (FSM) processing.
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   298
    ec_slave_t *slave, *next_slave;
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   299
b4960499098f Added finite state machine (FSM) processing.
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    list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
b4960499098f Added finite state machine (FSM) processing.
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        list_del(&slave->list);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   302
        ec_slave_destroy(slave);
238
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diff changeset
   303
    }
446
8fede404c01f Persistent slave lists.
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   304
238
b4960499098f Added finite state machine (FSM) processing.
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   305
    master->slave_count = 0;
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
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   306
}
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   307
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/*****************************************************************************/
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/**
448
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   311
   Destroy all domains.
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*/
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   313
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void ec_master_destroy_domains(ec_master_t *master)
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{
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    ec_domain_t *domain, *next_d;
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   317
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   318
    list_for_each_entry_safe(domain, next_d, &master->domains, list) {
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        list_del(&domain->list);
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   320
        ec_domain_destroy(domain);
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diff changeset
   321
    }
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   322
}
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   323
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   324
/*****************************************************************************/
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   325
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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   326
/**
430
74754f45d5fa Implemented SDO reading via Sysfs.
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   327
   Flushes the SDO request queue.
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   328
*/
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   329
74754f45d5fa Implemented SDO reading via Sysfs.
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   330
void ec_master_flush_sdo_requests(ec_master_t *master)
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diff changeset
   331
{
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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   332
    del_timer_sync(&master->sdo_timer);
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diff changeset
   333
    complete(&master->sdo_complete);
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   334
    master->sdo_request = NULL;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   335
    master->sdo_seq_user = 0;
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diff changeset
   336
    master->sdo_seq_master = 0;
430
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   337
}
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   338
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   339
/*****************************************************************************/
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   340
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   341
/**
515
37aa1bfa0dee Internal locking callbacks, improved locking.
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   342
   Internal locking callback.
37aa1bfa0dee Internal locking callbacks, improved locking.
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   343
*/
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   344
37aa1bfa0dee Internal locking callbacks, improved locking.
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   345
int ec_master_request_cb(void *master /**< callback data */)
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   346
{
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diff changeset
   347
    spin_lock(&((ec_master_t *) master)->internal_lock);
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   348
    return 0;
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diff changeset
   349
}
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   350
37aa1bfa0dee Internal locking callbacks, improved locking.
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   351
/*****************************************************************************/
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diff changeset
   352
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   353
/**
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   354
   Internal unlocking callback.
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diff changeset
   355
*/
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   356
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   357
void ec_master_release_cb(void *master /**< callback data */)
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diff changeset
   358
{
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   359
    spin_unlock(&((ec_master_t *) master)->internal_lock);
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diff changeset
   360
}
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   361
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   362
/*****************************************************************************/
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diff changeset
   363
37aa1bfa0dee Internal locking callbacks, improved locking.
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diff changeset
   364
/**
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
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diff changeset
   365
 * Starts the master thread.
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   366
*/
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   367
8b20781bd1e0 Master workqueue replaced with kernel thread.
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diff changeset
   368
int ec_master_thread_start(ec_master_t *master /**< EtherCAT master */)
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diff changeset
   369
{
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diff changeset
   370
    init_completion(&master->thread_exit);
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diff changeset
   371
    
540
a729667dea1e Minor changes in master thread messages.
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diff changeset
   372
    EC_INFO("Starting master thread.\n");
525
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diff changeset
   373
    if (!(master->thread_id =
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diff changeset
   374
                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))
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diff changeset
   375
        return -1;
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diff changeset
   376
    
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   377
    return 0;
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diff changeset
   378
}
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   379
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   380
/*****************************************************************************/
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   381
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diff changeset
   382
/**
8b20781bd1e0 Master workqueue replaced with kernel thread.
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diff changeset
   383
 * Stops the master thread.
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diff changeset
   384
*/
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diff changeset
   385
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diff changeset
   386
void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)
8b20781bd1e0 Master workqueue replaced with kernel thread.
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diff changeset
   387
{
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diff changeset
   388
    if (master->thread_id) {
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diff changeset
   389
        kill_proc(master->thread_id, SIGTERM, 1);
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diff changeset
   390
        wait_for_completion(&master->thread_exit);
540
a729667dea1e Minor changes in master thread messages.
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diff changeset
   391
        EC_INFO("Master thread exited.\n");
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   392
    }    
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   393
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   394
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   395
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   396
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   397
/**
527
3eea08638522 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   398
 * Transition function from ORPHANED to IDLE mode.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   399
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   400
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   401
int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   402
{
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   403
    master->request_cb = ec_master_request_cb;
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   404
    master->release_cb = ec_master_release_cb;
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   405
    master->cb_data = master;
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   406
	
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   407
    master->mode = EC_MASTER_MODE_IDLE;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   408
    if (ec_master_thread_start(master)) {
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   409
        master->mode = EC_MASTER_MODE_ORPHANED;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   410
        return -1;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   411
    }
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   412
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   413
    return 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   414
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   415
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   416
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   417
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   418
/**
527
3eea08638522 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   419
 * Transition function from IDLE to ORPHANED mode.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   420
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   421
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   422
void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   423
{
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   424
    master->mode = EC_MASTER_MODE_ORPHANED;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   425
    
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   426
    ec_master_eoe_stop(master);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   427
    ec_master_thread_stop(master);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   428
    ec_master_flush_sdo_requests(master);
589
492148a329e7 Destroy slaves when leaving idle mode.
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   429
    ec_master_destroy_slaves(master);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   430
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   431
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   432
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   433
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   434
/**
527
3eea08638522 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   435
 * Transition function from IDLE to OPERATION mode.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   436
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   437
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   438
int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   439
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   440
    ec_slave_t *slave;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   441
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   442
    ec_master_eoe_stop(master); // stop EoE timer
524
5ffcb9b9f17d Fixed blocking of EoE processing while entering or leaving operational mode.
Florian Pose <fp@igh-essen.com>
parents: 518
diff changeset
   443
    master->eoe_checked = 1; // prevent from starting again by FSM
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   444
    ec_master_thread_stop(master);
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   445
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   446
    master->mode = EC_MASTER_MODE_OPERATION;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   447
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   448
    // wait for FSM datagram
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   449
    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   450
        while (get_cycles() - master->fsm_datagram.cycles_sent
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   451
               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   452
        ecrt_master_receive(master);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   453
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   454
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   455
    // finish running master FSM
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   456
    if (ec_fsm_master_running(&master->fsm)) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   457
        while (ec_fsm_master_exec(&master->fsm)) {
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   458
            ec_master_sync_io(master);
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   459
        }
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   460
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   461
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   462
    if (master->debug_level) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   463
        if (ec_master_measure_bus_time(master)) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   464
            EC_ERR("Bus time measuring failed!\n");
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   465
            goto out_idle;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   466
        }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   467
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   468
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   469
    // set initial slave states
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   470
    list_for_each_entry(slave, &master->slaves, list) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   471
        if (ec_slave_is_coupler(slave)) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   472
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   473
        }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   474
        else {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   475
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   476
        }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   477
    }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   478
524
5ffcb9b9f17d Fixed blocking of EoE processing while entering or leaving operational mode.
Florian Pose <fp@igh-essen.com>
parents: 518
diff changeset
   479
    master->eoe_checked = 0; // allow starting EoE again
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   480
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   481
    return 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   482
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   483
 out_idle:
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   484
    master->mode = EC_MASTER_MODE_IDLE;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   485
    if (ec_master_thread_start(master)) {
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   486
        EC_WARN("Failed to start master thread again!\n");
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   487
    }
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   488
    return -1;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   489
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   490
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   491
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   492
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   493
/**
527
3eea08638522 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   494
 * Transition function from OPERATION to IDLE mode.
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   495
*/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   496
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   497
void ec_master_leave_operation_mode(ec_master_t *master
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   498
                                    /**< EtherCAT master */)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   499
{
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   500
    ec_slave_t *slave;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   501
    ec_fsm_master_t *fsm = &master->fsm;
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   502
    ec_fsm_slave_t fsm_slave;
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   503
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   504
    ec_master_eoe_stop(master); // stop EoE timer
524
5ffcb9b9f17d Fixed blocking of EoE processing while entering or leaving operational mode.
Florian Pose <fp@igh-essen.com>
parents: 518
diff changeset
   505
    master->eoe_checked = 1; // prevent from starting again by FSM
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   506
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   507
    // wait for FSM datagram
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   508
    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
   509
        // active waiting
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   510
        while (get_cycles() - master->fsm_datagram.cycles_sent
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
   511
               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   512
        ecrt_master_receive(master);
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   513
    }
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   514
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   515
    // finish running master FSM
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   516
    if (ec_fsm_master_running(fsm)) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   517
        while (ec_fsm_master_exec(fsm)) {
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   518
            ec_master_sync_io(master);
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   519
        }
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   520
    }
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   521
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   522
    ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   523
    
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   524
    // set states for all slaves
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   525
    list_for_each_entry(slave, &master->slaves, list) {
467
2274de57ca84 Remove estimated sync manager sizes when leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 462
diff changeset
   526
        ec_slave_reset(slave);
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   527
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   528
550
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   529
        // don't try to set PREOP for slaves that don't respond,
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   530
        // because of 3 second timeout.
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   531
        if (!slave->online) {
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   532
            if (master->debug_level)
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   533
                EC_DBG("Skipping to configure offline slave %i.\n",
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   534
                        slave->ring_position);
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   535
            continue;
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   536
        }
f94a9f1bcaea Fixed bug causing unloading of realtime module being very slow after topology change.
Florian Pose <fp@igh-essen.com>
parents: 549
diff changeset
   537
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   538
        ec_fsm_slave_start_conf(&fsm_slave, slave);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   539
        while (ec_fsm_slave_exec(&fsm_slave)) {
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   540
            ec_master_sync_io(master);
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
   541
        }
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   542
    }
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   543
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   544
    ec_fsm_slave_clear(&fsm_slave);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   545
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   546
    ec_master_destroy_domains(master);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   547
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   548
    master->request_cb = ec_master_request_cb;
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   549
    master->release_cb = ec_master_release_cb;
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   550
    master->cb_data = master;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   551
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   552
    master->eoe_checked = 0; // allow EoE again
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   553
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   554
    master->mode = EC_MASTER_MODE_IDLE;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   555
    if (ec_master_thread_start(master)) {
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   556
        EC_WARN("Failed to start master thread!\n");
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   557
    }
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   558
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   559
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   560
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   561
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   562
/**
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   563
   Places a datagram in the datagram queue.
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   564
*/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   565
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   566
void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   567
                              ec_datagram_t *datagram /**< datagram */
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   568
                              )
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   569
{
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   570
    ec_datagram_t *queued_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   571
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   572
    // check, if the datagram is already queued
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   573
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   574
        if (queued_datagram == datagram) {
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   575
            master->stats.skipped++;
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   576
            ec_master_output_stats(master);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   577
            datagram->state = EC_DATAGRAM_QUEUED;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   578
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   579
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   580
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   581
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   582
    list_add_tail(&datagram->queue, &master->datagram_queue);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   583
    datagram->state = EC_DATAGRAM_QUEUED;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   584
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   585
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   586
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   587
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   588
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   589
   Sends the datagrams in the queue.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   590
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   591
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   592
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   593
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   594
{
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   595
    ec_datagram_t *datagram, *next;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   596
    size_t datagram_size;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   597
    uint8_t *frame_data, *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   598
    void *follows_word;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   599
    cycles_t cycles_start, cycles_sent, cycles_end;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   600
    unsigned long jiffies_sent;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   601
    unsigned int frame_count, more_datagrams_waiting;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   602
    struct list_head sent_datagrams;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   603
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   604
    cycles_start = get_cycles();
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   605
    frame_count = 0;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   606
    INIT_LIST_HEAD(&sent_datagrams);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   607
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   608
    if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   609
        EC_DBG("ec_master_send_datagrams\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   610
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   611
    do {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   612
        // fetch pointer to transmit socket buffer
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   613
        frame_data = ec_device_tx_data(&master->main_device);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   614
        cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   615
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   616
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   617
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   618
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   619
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   620
            if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   621
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   622
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   623
            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   624
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   625
            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   626
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   627
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   628
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   629
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   630
            list_add_tail(&datagram->sent, &sent_datagrams);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   631
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   632
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   633
            if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   634
                EC_DBG("adding datagram 0x%02X\n", datagram->index);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   635
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   636
            // set "datagram following" flag in previous frame
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   637
            if (follows_word)
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   638
                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   639
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   640
            // EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   641
            EC_WRITE_U8 (cur_data,     datagram->type);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   642
            EC_WRITE_U8 (cur_data + 1, datagram->index);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   643
            EC_WRITE_U32(cur_data + 2, datagram->address.logical);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   644
            EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   645
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   646
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   647
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   648
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   649
            // EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   650
            memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   651
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   652
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   653
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   654
            EC_WRITE_U16(cur_data, 0x0000); // reset working counter
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   655
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   656
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   657
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   658
        if (list_empty(&sent_datagrams)) {
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   659
            if (unlikely(master->debug_level > 1))
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   660
                EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   661
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   662
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   663
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   664
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   665
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   666
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   667
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   668
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
   669
        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   670
            EC_WRITE_U8(cur_data++, 0x00);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   671
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   672
        if (unlikely(master->debug_level > 1))
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   673
            EC_DBG("frame size: %i\n", cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   674
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   675
        // send frame
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   676
        ec_device_send(&master->main_device, cur_data - frame_data);
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   677
        cycles_sent = get_cycles();
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   678
        jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   679
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   680
        // set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   681
        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   682
            datagram->state = EC_DATAGRAM_SENT;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   683
            datagram->cycles_sent = cycles_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   684
            datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   685
            list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   686
        }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   687
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   688
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   689
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   690
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   691
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   692
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   693
        cycles_end = get_cycles();
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   694
        EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   695
               frame_count,
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   696
               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   697
    }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   698
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   699
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   700
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   701
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   702
/**
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   703
   Processes a received frame.
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   704
   This function is called by the network driver for every received frame.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   705
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   706
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   707
331
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   708
void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   709
                                 const uint8_t *frame_data, /**< frame data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   710
                                 size_t size /**< size of the received data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   711
                                 )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   712
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   713
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   714
    uint8_t datagram_type, datagram_index;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   715
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   716
    const uint8_t *cur_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   717
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   718
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   719
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   720
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   721
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   722
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   723
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   724
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   725
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   726
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   727
    // check length of entire frame
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   728
    frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   729
    cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   730
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   731
    if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   732
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   733
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   734
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   735
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   736
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   737
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   738
    while (cmd_follows) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   739
        // process datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   740
        datagram_type  = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   741
        datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   742
        data_size      = EC_READ_U16(cur_data + 6) & 0x07FF;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   743
        cmd_follows    = EC_READ_U16(cur_data + 6) & 0x8000;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   744
        cur_data += EC_DATAGRAM_HEADER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   745
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   746
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   747
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   748
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   749
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   750
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   751
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   752
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   753
        // search for matching datagram in the queue
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   754
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   755
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   756
            if (datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   757
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   758
                && datagram->index == datagram_index
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   759
                && datagram->data_size == data_size) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   760
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   761
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   762
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   763
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   764
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   765
        // no matching datagram was found
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   766
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   767
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   768
            ec_master_output_stats(master);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   769
            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   770
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   771
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   772
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
   773
        // copy received data into the datagram memory
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   774
        memcpy(datagram->data, cur_data, data_size);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   775
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   776
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   777
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   778
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   779
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   780
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   781
        // dequeue the received datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   782
        datagram->state = EC_DATAGRAM_RECEIVED;
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   783
        datagram->cycles_received = master->main_device.cycles_poll;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   784
        datagram->jiffies_received = master->main_device.jiffies_poll;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   785
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   786
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   787
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   788
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   789
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   790
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   791
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   792
   Output statistics in cyclic mode.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   793
   This function outputs statistical data on demand, but not more often than
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   794
   necessary. The output happens at most once a second.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   795
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   796
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   797
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   798
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   799
    if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   800
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   801
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   802
        if (master->stats.timeouts) {
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   803
            EC_WARN("%i datagram%s TIMED OUT!\n", master->stats.timeouts,
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   804
                    master->stats.timeouts == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   805
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   806
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   807
        if (master->stats.corrupted) {
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   808
            EC_WARN("%i frame%s CORRUPTED!\n", master->stats.corrupted,
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   809
                    master->stats.corrupted == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   810
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   811
        }
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   812
        if (master->stats.skipped) {
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   813
            EC_WARN("%i datagram%s SKIPPED!\n", master->stats.skipped,
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   814
                    master->stats.skipped == 1 ? "" : "s");
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   815
            master->stats.skipped = 0;
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   816
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   817
        if (master->stats.unmatched) {
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   818
            EC_WARN("%i datagram%s UNMATCHED!\n", master->stats.unmatched,
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
   819
                    master->stats.unmatched == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   820
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   821
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   822
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   823
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   824
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   825
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   826
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   827
/**
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   828
   Master kernel thread function.
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   829
*/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   830
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   831
static int ec_master_thread(void *data)
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   832
{
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   833
    ec_master_t *master = (ec_master_t *) data;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   834
    cycles_t cycles_start, cycles_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   835
529
fdd5cc30441b Minor fix on master.c (name of master thread).
Florian Pose <fp@igh-essen.com>
parents: 528
diff changeset
   836
    daemonize("EtherCAT");
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   837
    allow_signal(SIGTERM);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   838
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   839
    while (!signal_pending(current) && master->mode == EC_MASTER_MODE_IDLE) {
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   840
        cycles_start = get_cycles();
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   841
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   842
        // receive
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   843
        spin_lock_bh(&master->internal_lock);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   844
        ecrt_master_receive(master);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   845
        spin_unlock_bh(&master->internal_lock);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   846
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   847
        // execute master state machine
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   848
        ec_fsm_master_exec(&master->fsm);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   849
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   850
        // send
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   851
        spin_lock_bh(&master->internal_lock);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   852
        ecrt_master_send(master);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   853
        spin_unlock_bh(&master->internal_lock);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   854
        
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   855
        cycles_end = get_cycles();
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   856
        master->idle_cycle_times[master->idle_cycle_time_pos]
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   857
            = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   858
        master->idle_cycle_time_pos++;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   859
        master->idle_cycle_time_pos %= HZ;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   860
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   861
        set_current_state(TASK_INTERRUPTIBLE);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   862
        schedule_timeout(1);
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   863
    }
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
   864
    
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   865
    master->thread_id = 0;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   866
    complete_and_exit(&master->thread_exit, 0);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   867
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   868
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   869
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   870
/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   871
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   872
ssize_t ec_master_device_info(const ec_device_t *device,
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   873
        const ec_device_id_t *dev_id,
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   874
        char *buffer)
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   875
{
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   876
    unsigned int frames_lost;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   877
    off_t off = 0;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   878
    
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   879
    off += ec_device_id_print(dev_id, buffer + off);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   880
    
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   881
    if (device->dev) {
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   882
        off += sprintf(buffer + off, " (connected).\n");      
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   883
        off += sprintf(buffer + off, "    Frames sent:     %u\n",
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   884
                device->tx_count);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   885
        off += sprintf(buffer + off, "    Frames received: %u\n",
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   886
                device->rx_count);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   887
        frames_lost = device->tx_count - device->rx_count;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   888
        if (frames_lost) frames_lost--;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   889
        off += sprintf(buffer + off, "    Frames lost:     %u\n", frames_lost);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   890
    }
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   891
    else if (dev_id->type != ec_device_id_empty) {
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   892
        off += sprintf(buffer + off, " (WAITING).\n");      
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   893
    }
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   894
    else {
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   895
        off += sprintf(buffer + off, ".\n");
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   896
    }
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   897
    
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   898
    return off;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   899
}
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   900
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   901
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   902
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   903
/**
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   904
   Formats master information for SysFS read access.
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   905
   \return number of bytes written
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   906
*/
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   907
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   908
ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   909
                       char *buffer /**< memory to store data */
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   910
                       )
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   911
{
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   912
    off_t off = 0;
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   913
    ec_eoe_t *eoe;
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   914
    uint32_t cur, sum, min, max, pos, i;
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   915
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   916
    off += sprintf(buffer + off, "\nMode: ");
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   917
    switch (master->mode) {
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   918
        case EC_MASTER_MODE_ORPHANED:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   919
            off += sprintf(buffer + off, "ORPHANED");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   920
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   921
        case EC_MASTER_MODE_IDLE:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   922
            off += sprintf(buffer + off, "IDLE");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   923
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   924
        case EC_MASTER_MODE_OPERATION:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   925
            off += sprintf(buffer + off, "OPERATION");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   926
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   927
    }
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   928
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 337
diff changeset
   929
    off += sprintf(buffer + off, "\nSlaves: %i\n",
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   930
                   master->slave_count);
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   931
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   932
    off += sprintf(buffer + off, "\nDevices:\n");
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   933
    
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   934
    if (down_interruptible(&master->device_sem)) {
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   935
        EC_ERR("Interrupted while waiting for device!\n");
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   936
        return -EINVAL;
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   937
    }
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   938
    
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   939
    off += sprintf(buffer + off, "  Main: ");
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   940
    off += ec_master_device_info(&master->main_device,
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   941
            master->main_device_id, buffer + off);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   942
    off += sprintf(buffer + off, "  Backup: ");
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   943
    off += ec_master_device_info(&master->backup_device,
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   944
            master->backup_device_id, buffer + off);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   945
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   946
    up(&master->device_sem);
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   947
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   948
    off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   949
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   950
    sum = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   951
    min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   952
    max = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   953
    pos = master->idle_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   954
    for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   955
        cur = master->idle_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   956
        sum += cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   957
        if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   958
        if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   959
    }
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   960
    off += sprintf(buffer + off, "  Idle cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   961
                   min, sum / HZ, (sum * 100 / HZ) % 100, max);
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   962
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   963
    sum = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   964
    min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   965
    max = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   966
    pos = master->eoe_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   967
    for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   968
        cur = master->eoe_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   969
        sum += cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   970
        if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   971
        if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   972
    }
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   973
    off += sprintf(buffer + off, "  EoE cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   974
                   min, sum / HZ, (sum * 100 / HZ) % 100, max);
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   975
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   976
    if (!list_empty(&master->eoe_handlers))
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 337
diff changeset
   977
        off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   978
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
341
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   979
        off += sprintf(buffer + off, "  %s: %u / %u (%u KB/s)\n",
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   980
                       eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   981
                       ((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   982
    }
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   983
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   984
    off += sprintf(buffer + off, "\n");
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   985
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   986
    return off;
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   987
}
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   988
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   989
/*****************************************************************************/
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   990
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   991
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   992
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   993
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   994
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   995
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   996
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   997
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   998
                                 char *buffer /**< memory to store data */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   999
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1000
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1001
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1002
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
  1003
    if (attr == &attr_info) {
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
  1004
        return ec_master_info(master, buffer);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1005
    }
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1006
    else if (attr == &attr_debug_level) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1007
        return sprintf(buffer, "%i\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1008
    }
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1009
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1010
    return 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1011
}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1012
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1013
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1014
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1015
/**
268
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1016
   Formats attribute data for SysFS write access.
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1017
   \return number of bytes processed, or negative error code
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1018
*/
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1019
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1020
ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1021
                                  struct attribute *attr, /**< attribute */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1022
                                  const char *buffer, /**< memory with data */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1023
                                  size_t size /**< size of data to store */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1024
                                  )
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1025
{
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1026
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1027
597
3a2c2d6ca5e9 Removed eeprom_write_enable file.
Florian Pose <fp@igh-essen.com>
parents: 589
diff changeset
  1028
    if (attr == &attr_debug_level) {
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1029
        if (!strcmp(buffer, "0\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1030
            master->debug_level = 0;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1031
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1032
        else if (!strcmp(buffer, "1\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1033
            master->debug_level = 1;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1034
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1035
        else if (!strcmp(buffer, "2\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1036
            master->debug_level = 2;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1037
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1038
        else {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1039
            EC_ERR("Invalid debug level value!\n");
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1040
            return -EINVAL;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1041
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1042
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1043
        EC_INFO("Master debug level set to %i.\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1044
        return size;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1045
    }
268
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1046
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1047
    return -EINVAL;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1048
}
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1049
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1050
/*****************************************************************************/
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1051
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
  1052
/**
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1053
   Starts Ethernet-over-EtherCAT processing on demand.
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1054
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1055
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1056
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1057
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1058
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1059
    ec_slave_t *slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1060
    unsigned int coupled, found;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1061
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1062
    if (master->eoe_running || master->eoe_checked) return;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1063
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1064
    master->eoe_checked = 1;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1065
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1066
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1067
    list_for_each_entry(eoe, &master->eoe_handlers, list)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1068
        eoe->slave = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1069
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1070
    // couple a free EoE handler to every EoE-capable slave
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1071
    coupled = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1072
    list_for_each_entry(slave, &master->slaves, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1073
        if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1074
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1075
        found = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1076
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1077
            if (eoe->slave) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1078
            eoe->slave = slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1079
            found = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1080
            coupled++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1081
            EC_INFO("Coupling device %s to slave %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1082
                    eoe->dev->name, slave->ring_position);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1083
            if (eoe->opened)
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1084
                ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1085
            else
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1086
                ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
253
6dd3e49dbb85 Fixed bug with coupling multiple EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 252
diff changeset
  1087
            break;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1088
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1089
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1090
        if (!found) {
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
  1091
            if (master->debug_level)
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
  1092
                EC_WARN("No EoE handler for slave %i!\n",
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
  1093
                        slave->ring_position);
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
  1094
            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1095
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1096
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1097
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1098
    if (!coupled) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1099
        EC_INFO("No EoE handlers coupled.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1100
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1101
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1102
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1103
    EC_INFO("Starting EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1104
    master->eoe_running = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1105
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1106
    // start EoE processing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1107
    master->eoe_timer.expires = jiffies + 10;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1108
    add_timer(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1109
    return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1110
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1111
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1112
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1113
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1114
/**
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1115
   Stops the Ethernet-over-EtherCAT processing.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1116
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1117
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1118
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1119
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1120
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1121
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1122
    master->eoe_checked = 0;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1123
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1124
    if (!master->eoe_running) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1125
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1126
    EC_INFO("Stopping EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1127
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1128
    del_timer_sync(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1129
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1130
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1131
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1132
        if (eoe->slave) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1133
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_PREOP);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1134
            eoe->slave = NULL;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1135
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1136
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1137
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1138
    master->eoe_running = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1139
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1140
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1141
/*****************************************************************************/
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1142
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1143
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1144
   Does the Ethernet-over-EtherCAT processing.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1145
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1146
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1147
void ec_master_eoe_run(unsigned long data /**< master pointer */)
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1148
{
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1149
    ec_master_t *master = (ec_master_t *) data;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1150
    ec_eoe_t *eoe;
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
  1151
    unsigned int active = 0;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1152
    cycles_t cycles_start, cycles_end;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1153
    unsigned long restart_jiffies;
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
  1154
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1155
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
  1156
        if (ec_eoe_active(eoe)) active++;
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
  1157
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1158
    if (!active) goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1159
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1160
    // receive datagrams
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1161
    if (master->request_cb(master->cb_data)) goto queue_timer;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1162
    cycles_start = get_cycles();
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1163
    ecrt_master_receive(master);
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1164
    master->release_cb(master->cb_data);
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1165
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1166
    // actual EoE processing
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1167
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1168
        ec_eoe_run(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1169
    }
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
  1170
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1171
    // send datagrams
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1172
    if (master->request_cb(master->cb_data)) goto queue_timer;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1173
    ecrt_master_send(master);
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1174
    cycles_end = get_cycles();
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
  1175
    master->release_cb(master->cb_data);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1176
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1177
    master->eoe_cycle_times[master->eoe_cycle_time_pos]
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1178
        = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1179
    master->eoe_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1180
    master->eoe_cycle_time_pos %= HZ;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
  1181
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1182
 queue_timer:
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1183
    restart_jiffies = HZ / EC_EOE_FREQUENCY;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1184
    if (!restart_jiffies) restart_jiffies = 1;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1185
    master->eoe_timer.expires += restart_jiffies;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1186
    add_timer(&master->eoe_timer);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1187
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1188
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1189
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1190
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1191
/**
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1192
*/
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1193
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1194
void ec_master_check_sdo(unsigned long data /**< master pointer */)
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1195
{
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1196
    ec_master_t *master = (ec_master_t *) data;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1197
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1198
    if (master->sdo_seq_master != master->sdo_seq_user) {
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1199
        master->sdo_timer.expires = jiffies + 10;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1200
        add_timer(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1201
        return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1202
    }
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1203
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1204
    // master has processed the request
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1205
    complete(&master->sdo_complete);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1206
}
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1207
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1208
/*****************************************************************************/
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1209
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1210
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1211
   Calculates Advanced Position Adresses.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1212
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1213
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1214
void ec_master_calc_addressing(ec_master_t *master /**< EtherCAT master */)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1215
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1216
    uint16_t coupler_index, coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1217
    uint16_t reverse_coupler_index, current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1218
    ec_slave_t *slave;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1219
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1220
    coupler_index = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1221
    reverse_coupler_index = 0xFFFF;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1222
    current_coupler_index = 0x0000;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1223
    coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1224
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1225
    list_for_each_entry(slave, &master->slaves, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1226
        if (ec_slave_is_coupler(slave)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1227
            if (slave->sii_alias)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1228
                current_coupler_index = reverse_coupler_index--;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1229
            else
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1230
                current_coupler_index = coupler_index++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1231
            coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1232
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1233
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1234
        slave->coupler_index = current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1235
        slave->coupler_subindex = coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1236
        coupler_subindex++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1237
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1238
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1239
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1240
/*****************************************************************************/
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1241
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1242
/**
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1243
   Measures the time, a frame is on the bus.
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1244
   \return 0 in case of success, else < 0
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1245
*/
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1246
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1247
int ec_master_measure_bus_time(ec_master_t *master)
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1248
{
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1249
    ec_datagram_t datagram;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1250
    uint32_t cur, sum, min, max, i;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1251
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1252
    ec_datagram_init(&datagram);
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1253
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1254
    if (ec_datagram_brd(&datagram, 0x130, 2)) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1255
        EC_ERR("Failed to allocate datagram for bus time measuring.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1256
        ec_datagram_clear(&datagram);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1257
        return -1;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1258
    }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1259
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1260
    ecrt_master_receive(master);
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1261
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1262
    sum = 0;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1263
    min = 0xFFFFFFFF;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1264
    max = 0;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1265
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1266
    for (i = 0; i < 100; i++) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1267
        ec_master_queue_datagram(master, &datagram);
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1268
        ecrt_master_send(master);
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1269
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1270
        while (1) {
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1271
            ecrt_master_receive(master);
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1272
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1273
            if (datagram.state == EC_DATAGRAM_RECEIVED) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1274
                break;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1275
            }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1276
            else if (datagram.state == EC_DATAGRAM_ERROR) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1277
                EC_WARN("Failed to measure bus time.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1278
                goto error;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1279
            }
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1280
            else if (datagram.state == EC_DATAGRAM_TIMED_OUT) {
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1281
                EC_WARN("Timeout while measuring bus time.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1282
                goto error;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1283
            }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1284
        }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1285
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1286
        cur = (unsigned int) (datagram.cycles_received
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1287
                              - datagram.cycles_sent) * 1000 / cpu_khz;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1288
        sum += cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1289
        if (cur > max) max = cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1290
        if (cur < min) min = cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1291
    }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1292
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 456
diff changeset
  1293
    EC_DBG("Bus time is (min/avg/max) %u / %u.%u / %u us.\n",
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 456
diff changeset
  1294
           min, sum / 100, sum % 100, max);
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1295
    ec_datagram_clear(&datagram);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1296
    return 0;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1297
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1298
  error:
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1299
    ec_datagram_clear(&datagram);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1300
    return -1;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1301
}
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1302
495
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1303
/*****************************************************************************/
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1304
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1305
/**
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1306
   Prepares synchronous IO.
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1307
   Queues all domain datagrams and sends them. Then waits a certain time, so
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1308
   that ecrt_master_receive() can be called securely.
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1309
*/
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1310
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1311
void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1312
{
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1313
    ec_domain_t *domain;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1314
    cycles_t cycles_start, cycles_end, cycles_timeout;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1315
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1316
    // queue datagrams of all domains
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1317
    list_for_each_entry(domain, &master->domains, list)
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1318
        ecrt_domain_queue(domain);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1319
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1320
    ecrt_master_send(master);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1321
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1322
    cycles_start = get_cycles();
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1323
    cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1324
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1325
    // active waiting
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1326
    while (1) {
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1327
        udelay(100);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1328
        cycles_end = get_cycles();
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1329
        if (cycles_end - cycles_start >= cycles_timeout) break;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1330
    }
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1331
}
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1332
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1333
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1334
 *  Realtime interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1335
 *****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1336
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1337
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1338
   Creates a domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1339
   \return pointer to new domain on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1340
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1341
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1342
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1343
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1344
{
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1345
    ec_domain_t *domain, *last_domain;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1346
    unsigned int index;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1347
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1348
    if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1349
        EC_ERR("Error allocating domain memory!\n");
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
  1350
        return NULL;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1351
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1352
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1353
    if (list_empty(&master->domains)) index = 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1354
    else {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1355
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1356
        index = last_domain->index + 1;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1357
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1358
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1359
    if (ec_domain_init(domain, master, index)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1360
        EC_ERR("Failed to init domain.\n");
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
  1361
        return NULL;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1362
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1363
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1364
    list_add_tail(&domain->list, &master->domains);
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 483
diff changeset
  1365
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1366
    return domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1367
}
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1368
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1369
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1370
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1371
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1372
   Configures all slaves and leads them to the OP state.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1373
   Does the complete configuration and activation for all slaves. Sets sync
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1374
   managers and FMMUs, and does the appropriate transitions, until the slave
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1375
   is operational.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1376
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1377
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1378
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1379
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1380
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1381
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1382
    uint32_t domain_offset;
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1383
    ec_domain_t *domain;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1384
    ec_fsm_slave_t fsm_slave;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1385
    ec_slave_t *slave;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1386
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1387
    // allocate all domains
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1388
    domain_offset = 0;
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1389
    list_for_each_entry(domain, &master->domains, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1390
        if (ec_domain_alloc(domain, domain_offset)) {
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1391
            EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1392
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1393
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1394
        domain_offset += domain->data_size;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1395
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1396
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1397
    ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1398
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
  1399
    // configure all slaves
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1400
    list_for_each_entry(slave, &master->slaves, list) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1401
        ec_fsm_slave_start_conf(&fsm_slave, slave);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1402
        while (ec_fsm_slave_exec(&fsm_slave)) { 
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
  1403
            ec_master_sync_io(master);
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 449
diff changeset
  1404
        }
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1405
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1406
        if (!ec_fsm_slave_success(&fsm_slave)) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1407
            ec_fsm_slave_clear(&fsm_slave);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1408
            EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1409
            return -1;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1410
        }
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1411
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1412
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1413
    ec_fsm_slave_clear(&fsm_slave);
495
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1414
    ec_master_prepare(master); // prepare asynchronous IO
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1415
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1416
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1417
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1418
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1419
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1420
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1421
/**
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1422
   Sends queued datagrams and waits for their reception.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1423
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1424
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1425
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1426
{
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1427
    ec_datagram_t *datagram;
548
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1428
    unsigned int datagrams_sent;
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1429
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1430
    // send all datagrams
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1431
    ecrt_master_send(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1432
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1433
    while (1) { // active waiting
549
67be4381c820 schedule() other processes while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 548
diff changeset
  1434
        schedule(); // schedule other processes while waiting.
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1435
        ecrt_master_receive(master); // receive and dequeue datagrams
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1436
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1437
        // count number of datagrams still waiting for response
548
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1438
        datagrams_sent = 0;
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1439
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
548
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1440
            // there may be another process that queued commands
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1441
            // in the meantime.
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1442
            if (datagram->state == EC_DATAGRAM_QUEUED) continue;
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1443
            datagrams_sent++;
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1444
        }
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1445
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1446
        // abort loop if there are no more datagrams marked as sent.
f5d41a52a8aa Ignore queued datagrams while waiting in ec_master_sync_io().
Florian Pose <fp@igh-essen.com>
parents: 540
diff changeset
  1447
        if (!datagrams_sent) break;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1448
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1449
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1450
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1451
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1452
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1453
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1454
   Asynchronous sending of datagrams.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1455
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1456
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1457
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1458
void ecrt_master_send(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1459
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1460
    ec_datagram_t *datagram, *n;
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1461
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1462
    if (unlikely(!master->main_device.link_state)) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1463
        // link is down, no datagram can be sent
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1464
        list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1465
            datagram->state = EC_DATAGRAM_ERROR;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1466
            list_del_init(&datagram->queue);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1467
        }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1468
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1469
        // query link state
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1470
        ec_device_poll(&master->main_device);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1471
        return;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1472
    }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1473
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1474
    // send frames
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1475
    ec_master_send_datagrams(master);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1476
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1477
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1478
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1479
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1480
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1481
   Asynchronous receiving of datagrams.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1482
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1483
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1484
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1485
void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1486
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1487
    ec_datagram_t *datagram, *next;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1488
    cycles_t cycles_timeout;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1489
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1490
    // receive datagrams
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1491
    ec_device_poll(&master->main_device);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1492
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1493
    cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1494
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1495
    // dequeue all datagrams that timed out
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1496
    list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
495
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1497
        if (datagram->state != EC_DATAGRAM_SENT) continue;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1498
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1499
        if (master->main_device.cycles_poll - datagram->cycles_sent
495
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1500
            > cycles_timeout) {
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1501
            list_del_init(&datagram->queue);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1502
            datagram->state = EC_DATAGRAM_TIMED_OUT;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1503
            master->stats.timeouts++;
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1504
            ec_master_output_stats(master);
88c597598bbc Interface changes for version 1.2, see NEWS file.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
  1505
        }
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1506
    }
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1507
}
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1508
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1509
/*****************************************************************************/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1510
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1511
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1512
   Does all cyclic master work.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1513
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1514
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1515
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1516
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1517
{
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1518
    // output statistics
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1519
    ec_master_output_stats(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1520
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
  1521
    // execute master state machine in a loop
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
  1522
    ec_fsm_master_exec(&master->fsm);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1523
}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1524
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1525
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1526
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1527
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1528
   Translates an ASCII coded bus-address to a slave pointer.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1529
   These are the valid addressing schemes:
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1530
   - \a "X" = the X. slave on the bus,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1531
   - \a "X:Y" = the Y. slave after the X. branch (bus coupler),
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1532
   - \a "#X" = the slave with alias X,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1533
   - \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1534
   X and Y are zero-based indices and may be provided in hexadecimal or octal
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1535
   notation (with respective prefix).
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1536
   \return pointer to the slave on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1537
   \ingroup RealtimeInterface
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1538
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1539
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1540
ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1541
                                  const char *address /**< address string */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1542
                                  )
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1543
{
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1544
    unsigned long first, second;
502
5f4a2fd3b180 Fixed warnings in master.c.
Florian Pose <fp@igh-essen.com>
parents: 500
diff changeset
  1545
    char *remainder, *remainder2;
5f4a2fd3b180 Fixed warnings in master.c.
Florian Pose <fp@igh-essen.com>
parents: 500
diff changeset
  1546
    const char *original;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1547
    unsigned int alias_requested, alias_found;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1548
    ec_slave_t *alias_slave = NULL, *slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1549
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1550
    original = address;
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1551
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1552
    if (!address || address[0] == 0) return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1553
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1554
    alias_requested = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1555
    if (address[0] == '#') {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1556
        alias_requested = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1557
        address++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1558
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1559
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1560
    first = simple_strtoul(address, &remainder, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1561
    if (remainder == address) {
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1562
        EC_ERR("Slave address \"%s\" - First number empty!\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1563
        return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1564
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1565
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1566
    if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1567
        alias_found = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1568
        list_for_each_entry(alias_slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1569
            if (alias_slave->sii_alias == first) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1570
                alias_found = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1571
                break;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1572
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1573
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1574
        if (!alias_found) {
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1575
            EC_ERR("Slave address \"%s\" - Alias not found!\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1576
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1577
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1578
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1579
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1580
    if (!remainder[0]) { // absolute position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1581
        if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1582
            return alias_slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1583
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1584
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1585
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1586
                if (slave->ring_position == first) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1587
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1588
            EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1589
                   original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1590
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1591
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1592
    else if (remainder[0] == ':') { // field position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1593
        remainder++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1594
        second = simple_strtoul(remainder, &remainder2, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1595
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1596
        if (remainder2 == remainder) {
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1597
            EC_ERR("Slave address \"%s\" - Second number empty!\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1598
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1599
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1600
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1601
        if (remainder2[0]) {
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1602
            EC_ERR("Slave address \"%s\" - Invalid trailer!\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1603
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1604
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1605
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1606
        if (alias_requested) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1607
            if (!ec_slave_is_coupler(alias_slave)) {
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1608
                EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1609
                       " in colon mode.\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1610
                return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1611
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1612
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1613
                if (slave->coupler_index == alias_slave->coupler_index
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1614
                    && slave->coupler_subindex == second)
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1615
                    return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1616
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1617
            EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1618
                   " following!\n", original, alias_slave->ring_position,
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1619
                   second);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1620
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1621
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1622
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1623
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1624
                if (slave->coupler_index == first
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1625
                    && slave->coupler_subindex == second) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1626
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1627
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1628
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1629
    else
500
f9e6d119463f Corrected error messages in get_slave().
Florian Pose <fp@igh-essen.com>
parents: 496
diff changeset
  1630
        EC_ERR("Slave address \"%s\" - Invalid format!\n", original);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1631
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1632
    return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1633
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1634
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1635
/*****************************************************************************/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1636
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1637
/**
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1638
   Sets the locking callbacks.
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1639
   The request_cb function must return zero, to allow another instance
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1640
   (the EoE process for example) to access the master. Non-zero means,
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1641
   that access is forbidden at this time.
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1642
   \ingroup RealtimeInterface
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1643
*/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1644
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1645
void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1646
                           int (*request_cb)(void *), /**< request lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1647
                           void (*release_cb)(void *), /**< release lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1648
                           void *cb_data /**< data parameter */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1649
                           )
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1650
{
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1651
    master->request_cb = request_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1652
    master->release_cb = release_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1653
    master->cb_data = cb_data;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1654
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1655
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1656
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1657
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1658
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1659
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1660
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1661
EXPORT_SYMBOL(ecrt_master_activate);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1662
EXPORT_SYMBOL(ecrt_master_send);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1663
EXPORT_SYMBOL(ecrt_master_receive);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1664
EXPORT_SYMBOL(ecrt_master_run);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1665
EXPORT_SYMBOL(ecrt_master_callbacks);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1666
EXPORT_SYMBOL(ecrt_master_get_slave);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  1667
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1668
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1669
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1670
/*****************************************************************************/