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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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/**

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   \file

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   EtherCAT master structure.

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*/

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

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#ifndef __EC_MASTER_H__

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#define __EC_MASTER_H__

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#include <linux/version.h>

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#include <linux/list.h>

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#include <linux/timer.h>

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#include <linux/wait.h>

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#include <linux/kthread.h>

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#include "device.h"

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#include "domain.h"

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#include "ethernet.h"

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#include "fsm_master.h"

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#include "cdev.h"

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

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/** Convenience macro for printing master-specific information to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

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 * where INDEX is the master index.

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 *

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 * \param master EtherCAT master

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_MASTER_INFO(master, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT %u: " fmt, master->index, ##args); \

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        printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args);   \

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    } while (0)

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#else

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#define EC_MASTER_INFO(master, fmt, args...) \

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    printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

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#endif

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/** Convenience macro for printing master-specific errors to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

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 * where INDEX is the master index.

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 *

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 * \param master EtherCAT master

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_MASTER_ERR(master, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT ERROR %u: " fmt, master->index, ##args); \

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        printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args); \

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    } while (0)

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#else

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#define EC_MASTER_ERR(master, fmt, args...) \

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    printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

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#endif

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/** Convenience macro for printing master-specific warnings to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

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 * where INDEX is the master index.

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 *

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 * \param master EtherCAT master

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_MASTER_WARN(master, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT WARNING %u: " fmt, master->index, ##args); \

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        printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args);    \

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    } while (0)

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#else

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#define EC_MASTER_WARN(master, fmt, args...) \

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    printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

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#endif

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/** Convenience macro for printing master-specific debug messages to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

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 * where INDEX is the master index.

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 *

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 * \param master EtherCAT master

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_MASTER_DBG(master, level, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u: " fmt, \

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            level,master->index, ##args); \

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        if (master->debug_level >= level) { \

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            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \

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                    master->index, ##args); \

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        } \

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    } while (0)

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#else

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#define EC_MASTER_DBG(master, level, fmt, args...) \

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    do { \

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        if (master->debug_level >= level) { \

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            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \

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                    master->index, ##args); \

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        } \

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    } while (0)

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#endif

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

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/** EtherCAT master phase.

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 */

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typedef enum {

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    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device

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                   attached. */

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    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master

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               is not in use, yet. */

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    EC_OPERATION /**< Operation phase. The master was requested by a realtime

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                   application. */

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} ec_master_phase_t;

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

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/** Cyclic statistics.

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 */

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typedef struct {

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    unsigned int timeouts; /**< datagram timeouts */

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    unsigned int corrupted; /**< corrupted frames */

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    unsigned int unmatched; /**< unmatched datagrams (received, but not

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                               queued any longer) */

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    unsigned long output_jiffies; /**< time of last output */

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} ec_stats_t;

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

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/** EtherCAT master.

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 *

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 * Manages slaves, domains and IO.

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 */

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struct ec_master {

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    unsigned int index; /**< Index. */

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    unsigned int reserved; /**< \a True, if the master is in use. */

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    ec_cdev_t cdev; /**< Master character device. */

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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

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    struct device *class_device; /**< Master class device. */

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#else

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    struct class_device *class_device; /**< Master class device. */

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#endif

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    struct ec_mutex_t master_mutex; /**< Master mutex. */

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    ec_device_t main_device; /**< EtherCAT main device. */

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    const uint8_t *main_mac; /**< MAC address of main device. */

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    ec_device_t backup_device; /**< EtherCAT backup device. */

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    const uint8_t *backup_mac; /**< MAC address of backup device. */

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    struct ec_mutex_t device_mutex; /**< Device mutex. */

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    ec_fsm_master_t fsm; /**< Master state machine. */

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    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */

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    ec_mailbox_t fsm_mbox; /**< Mailbox used for state machines. */

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    ec_master_phase_t phase; /**< Master phase. */

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    unsigned int active; /**< Master has been activated. */

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    unsigned int config_changed; /**< The configuration changed. */

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    unsigned int injection_seq_fsm; /**< Datagram injection sequence number

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                                      for the FSM side. */

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    unsigned int injection_seq_rt; /**< Datagram injection sequence number

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                                     for the realtime side. */

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    ec_slave_t *slaves; /**< Array of slaves on the bus. */

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    unsigned int slave_count; /**< Number of slaves on the bus. */

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    /* Configuration applied by the application. */

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    struct list_head configs; /**< List of slave configurations. */

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    struct list_head domains; /**< List of domains. */

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    u64 app_time; /**< Time of the last ecrt_master_sync() call. */

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    u64 app_start_time; /**< Application start time. */

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    u8 has_app_time; /**< Application time is valid. */

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    ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the

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                                       reference clock to the master clock. */

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    ec_datagram_t sync_datagram; /**< Datagram used for DC drift

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                                   compensation. */

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    ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation

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                                       monitoring. */

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    ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */

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#ifdef EC_HAVE_CYCLES

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    cycles_t dc_cycles_app_start_time; /** cycles at last ecrt_master_sync() call.*/

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#endif

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    unsigned long dc_jiffies_app_start_time;/** jiffies at last

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                                            ecrt_master_sync() call.*/

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    unsigned int scan_busy; /**< Current scan state. */

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    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */

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    struct ec_mutex_t scan_mutex; /**< Mutex protecting the \a scan_busy

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                                 variable and the \a allow_scan flag. */

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    wait_queue_head_t scan_queue; /**< Queue for processes that wait for

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                                    slave scanning. */

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    unsigned int config_busy; /**< State of slave configuration. */

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    struct ec_mutex_t config_mutex; /**< Mutex protecting the \a config_busy

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                                   variable and the allow_config flag. */

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    wait_queue_head_t config_queue; /**< Queue for processes that wait for

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                                      slave configuration. */

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    struct list_head datagram_queue; /**< Datagram queue. */

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    uint8_t datagram_index; /**< Current datagram index. */

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    struct ec_mutex_t fsm_queue_mutex; /**< Mutex protecting the \a

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                                      fsm_datagram_queue. */

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    struct list_head fsm_datagram_queue; /**< External Datagram queue. */

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    unsigned int send_interval; /**< Interval between calls to

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                                  ecrt_master_send */

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    size_t max_queue_size; /**< Maximum size of datagram queue */

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    unsigned int debug_level; /**< Master debug level. */

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    ec_stats_t stats; /**< Cyclic statistics. */

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    struct task_struct *thread; /**< Master thread. */

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#ifdef EC_EOE

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    struct task_struct *eoe_thread; /**< EoE thread. */

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    struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */

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#endif

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    struct ec_mutex_t io_mutex; /**< Mutex used in \a IDLE phase. */

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    void (*fsm_queue_lock_cb)(void *); /**< FSM queue lock callback. */

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    void (*fsm_queue_unlock_cb)(void *); /**< FSM queue unlock callback. */

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    void *fsm_queue_locking_data; /**< Data parameter of fsm queue locking

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                                    callbacks. */

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    void (*app_fsm_queue_lock_cb)(void *); /**< App's FSM queue lock callback.

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                                            */

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    void (*app_fsm_queue_unlock_cb)(void *); /**< App's FSM queue unlock

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                                               callback. */

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    void *app_fsm_queue_locking_data; /**< App's data parameter of fsm queue

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                                        locking callbacks. */

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    struct list_head sii_requests; /**< SII write requests. */

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    wait_queue_head_t sii_queue; /**< Wait queue for SII

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                                      write requests from user space. */

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    struct list_head reg_requests; /**< Register requests. */

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    wait_queue_head_t reg_queue; /**< Wait queue for register requests. */

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};

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

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// static funtions

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void ec_master_init_static(void);

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// master creation/deletion

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int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,

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        const uint8_t *, dev_t, struct class *, unsigned int);

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void ec_master_clear(ec_master_t *);

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// phase transitions

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int ec_master_enter_idle_phase(ec_master_t *);

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void ec_master_leave_idle_phase(ec_master_t *);

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int ec_master_enter_operation_phase(ec_master_t *);

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void ec_master_leave_operation_phase(ec_master_t *);

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// datagram IO

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void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);

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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

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void ec_master_queue_request_fsm_datagram(ec_master_t *, ec_datagram_t *);

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void ec_master_queue_fsm_datagram(ec_master_t *, ec_datagram_t *);

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void ec_master_inject_fsm_datagrams(ec_master_t *);

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// misc.

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void ec_master_set_send_interval(ec_master_t *, unsigned int);

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void ec_master_attach_slave_configs(ec_master_t *);

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ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);

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const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,

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        uint16_t);

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void ec_master_output_stats(ec_master_t *);

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#ifdef EC_EOE

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void ec_master_clear_eoe_handlers(ec_master_t *);

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#endif

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void ec_master_clear_slaves(ec_master_t *);

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unsigned int ec_master_config_count(const ec_master_t *);

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ec_slave_config_t *ec_master_get_config(

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        const ec_master_t *, unsigned int);

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const ec_slave_config_t *ec_master_get_config_const(

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        const ec_master_t *, unsigned int);

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unsigned int ec_master_domain_count(const ec_master_t *);

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ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);

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const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,

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        unsigned int);

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#ifdef EC_EOE

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uint16_t ec_master_eoe_handler_count(const ec_master_t *);

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const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);

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#endif

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int ec_master_debug_level(ec_master_t *, unsigned int);

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ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);

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ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,

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        uint16_t, uint32_t, uint32_t);

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void ec_master_calc_dc(ec_master_t *);

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void ec_master_request_op(ec_master_t *);

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

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#endif