master/module.c
author Florian Pose <fp@igh-essen.com>
Fri, 02 Mar 2007 07:37:34 +0000
changeset 602 0c58446dec3c
parent 579 17c6fd3b076e
child 639 aa23c48dca2d
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 driver module.
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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/init.h>
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#include "globals.h"
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#include "master.h"
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#include "device.h"
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#include "xmldev.h"
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/*****************************************************************************/
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int __init ec_init_module(void);
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void __exit ec_cleanup_module(void);
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/*****************************************************************************/
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struct kobject ec_kobj; /**< kobject for master module */
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static char *main; /**< main devices parameter */
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static char *backup; /**< backup devices parameter */
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static LIST_HEAD(main_ids); /**< list of main device IDs */
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static LIST_HEAD(backup_ids); /**< list of main device IDs */
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static LIST_HEAD(masters); /**< list of masters */
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static dev_t device_number; /**< XML character device number */
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ec_xmldev_t xmldev; /**< XML character device */
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char *ec_master_version_str = EC_MASTER_VERSION;
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/*****************************************************************************/
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/** \cond */
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT master driver module");
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MODULE_LICENSE("GPL");
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MODULE_VERSION(EC_MASTER_VERSION);
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module_param(main, charp, S_IRUGO);
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MODULE_PARM_DESC(main, "main device IDs");
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module_param(backup, charp, S_IRUGO);
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MODULE_PARM_DESC(backup, "backup device IDs");
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/** \endcond */
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/*****************************************************************************/
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/**
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   Module initialization.
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   Initializes \a ec_master_count masters.
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   \return 0 on success, else < 0
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*/
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int __init ec_init_module(void)
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{
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    ec_master_t *master, *next;
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    ec_device_id_t *main_dev_id, *backup_dev_id;
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    unsigned int master_index = 0;
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    EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
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    // init kobject and add it to the hierarchy
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    memset(&ec_kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&ec_kobj); // no ktype
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    if (kobject_set_name(&ec_kobj, "ethercat")) {
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        EC_ERR("Failed to set module kobject name.\n");
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        goto out_put;
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    }
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    if (kobject_add(&ec_kobj)) {
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        EC_ERR("Failed to add module kobject.\n");
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        goto out_put;
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    }
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    if (alloc_chrdev_region(&device_number, 0, 1, "EtherCAT")) {
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        EC_ERR("Failed to obtain device number!\n");
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        goto out_del;
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    }
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    if (ec_device_id_process_params(main, backup, &main_ids, &backup_ids))
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        goto out_cdev;
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    // create as many masters as main device IDs present
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    if (!list_empty(&main_ids)) {
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diff changeset
   126
        // main_ids and backup_ids are of equal size at this point
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   127
        main_dev_id =
575
9a2121b500b1 Layed out device ID functionality in own files.
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diff changeset
   128
            list_entry(main_ids.next, ec_device_id_t, list);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   129
        backup_dev_id =
575
9a2121b500b1 Layed out device ID functionality in own files.
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diff changeset
   130
            list_entry(backup_ids.next, ec_device_id_t, list);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   131
        
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diff changeset
   132
        while (1) {
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diff changeset
   133
            if (!(master = (ec_master_t *)
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   134
                        kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   135
                EC_ERR("Failed to allocate memory for EtherCAT master %i.\n",
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diff changeset
   136
                        master_index);
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   137
                goto out_free_masters;
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   138
            }
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diff changeset
   139
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
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diff changeset
   140
            if (ec_master_init(master, &ec_kobj, master_index,
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   141
                        main_dev_id, backup_dev_id, 0))
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   142
                goto out_free_masters;
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   143
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   144
            list_add_tail(&master->list, &masters);
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   145
            master_index++;
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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parents: 572
diff changeset
   146
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   147
            // last device IDs?
575
9a2121b500b1 Layed out device ID functionality in own files.
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diff changeset
   148
            if (main_dev_id->list.next == &main_ids)
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   149
                break;
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diff changeset
   150
            
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   151
            // next device IDs
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diff changeset
   152
            main_dev_id =
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diff changeset
   153
                list_entry(main_dev_id->list.next, ec_device_id_t, list);
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   154
            backup_dev_id =
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diff changeset
   155
                list_entry(backup_dev_id->list.next, ec_device_id_t, list);
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diff changeset
   156
        }
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diff changeset
   157
    }
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   158
    
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   159
    EC_INFO("%u master%s waiting for devices.\n",
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   160
            master_index, (master_index == 1 ? "" : "s"));
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   161
    return 0;
127
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   162
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   163
out_free_masters:
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   164
    list_for_each_entry_safe(master, next, &masters, list) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   165
        list_del(&master->list);
575
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   166
        ec_master_destroy(master);
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   167
    }
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   168
    ec_device_id_clear_list(&main_ids);
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   169
    ec_device_id_clear_list(&backup_ids);
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   170
out_cdev:
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   171
    unregister_chrdev_region(device_number, 1);
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   172
out_del:
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   173
    kobject_del(&ec_kobj);
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   174
out_put:
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   175
    kobject_put(&ec_kobj);
127
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   176
    return -1;
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   179
/*****************************************************************************/
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   182
   Module cleanup.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   183
   Clears all master instances.
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
*/
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   186
void __exit ec_cleanup_module(void)
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
{
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   188
    ec_master_t *master, *next;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   189
575
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   190
    EC_INFO("Cleaning up master module...\n");
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   191
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   192
    list_for_each_entry_safe(master, next, &masters, list) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   193
        list_del(&master->list);
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
   194
        ec_master_destroy(master);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   195
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   196
575
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   197
    ec_device_id_clear_list(&main_ids);
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   198
    ec_device_id_clear_list(&backup_ids);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   199
    unregister_chrdev_region(device_number, 1);
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   200
    kobject_del(&ec_kobj);
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 575
diff changeset
   201
    kobject_put(&ec_kobj);
361
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   202
575
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   203
    EC_INFO("Master module cleaned up.\n");
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   206
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   207
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   208
/**
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   209
   Gets a handle to a certain master.
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   210
   \returns pointer to master
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   211
*/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   212
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   213
ec_master_t *ec_find_master(unsigned int master_index /**< master index */)
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   214
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   215
    ec_master_t *master;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   216
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   217
    list_for_each_entry(master, &masters, list) {
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   218
        if (master->index == master_index) return master;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   219
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents: 161
diff changeset
   220
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   221
    EC_ERR("Master %i does not exist!\n", master_index);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   222
    return NULL;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   223
}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   224
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   225
/*****************************************************************************/
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   226
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   227
/**
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   228
   Outputs frame contents for debugging purposes.
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   229
*/
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   230
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   231
void ec_print_data(const uint8_t *data, /**< pointer to data */
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   232
                   size_t size /**< number of bytes to output */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   233
                   )
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   234
{
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   235
    unsigned int i;
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   236
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   237
    EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   238
    for (i = 0; i < size; i++) {
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   239
        printk("%02X ", data[i]);
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   240
        if ((i + 1) % 16 == 0) {
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   241
            printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   242
            EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   243
        }
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   244
    }
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   245
    printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   246
}
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   247
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   248
/*****************************************************************************/
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   249
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   250
/**
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   251
   Outputs frame contents and differences for debugging purposes.
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   252
*/
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   253
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   254
void ec_print_data_diff(const uint8_t *d1, /**< first data */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   255
                        const uint8_t *d2, /**< second data */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   256
                        size_t size /** number of bytes to output */
f8a1e9f364a3 Introduced version number define.
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parents: 195
diff changeset
   257
                        )
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   258
{
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   259
    unsigned int i;
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   260
f8a1e9f364a3 Introduced version number define.
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   261
    EC_DBG("");
f8a1e9f364a3 Introduced version number define.
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   262
    for (i = 0; i < size; i++) {
f8a1e9f364a3 Introduced version number define.
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diff changeset
   263
        if (d1[i] == d2[i]) printk(".. ");
f8a1e9f364a3 Introduced version number define.
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diff changeset
   264
        else printk("%02X ", d2[i]);
f8a1e9f364a3 Introduced version number define.
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diff changeset
   265
        if ((i + 1) % 16 == 0) {
f8a1e9f364a3 Introduced version number define.
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diff changeset
   266
            printk("\n");
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diff changeset
   267
            EC_DBG("");
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diff changeset
   268
        }
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diff changeset
   269
    }
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   270
    printk("\n");
f8a1e9f364a3 Introduced version number define.
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diff changeset
   271
}
f8a1e9f364a3 Introduced version number define.
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   272
251
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   273
/*****************************************************************************/
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   274
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   275
/**
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   276
   Prints slave states in clear text.
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   277
*/
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   278
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   279
size_t ec_state_string(uint8_t states, /**< slave states */
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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   280
                       char *buffer /**< target buffer
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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   281
                                       (min. EC_STATE_STRING_SIZE bytes) */
325
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   282
                       )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   283
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   284
    off_t off = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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   285
    unsigned int first = 1;
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   286
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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   287
    if (!states) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   288
        off += sprintf(buffer + off, "(unknown)");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   289
        return off;
251
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   290
    }
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   291
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   292
    if (states & EC_SLAVE_STATE_INIT) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   293
        off += sprintf(buffer + off, "INIT");
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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   294
        first = 0;
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   295
    }
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   296
    if (states & EC_SLAVE_STATE_PREOP) {
325
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   297
        if (!first) off += sprintf(buffer + off, ", ");
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   298
        off += sprintf(buffer + off, "PREOP");
251
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   299
        first = 0;
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   300
    }
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   301
    if (states & EC_SLAVE_STATE_SAVEOP) {
325
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   302
        if (!first) off += sprintf(buffer + off, ", ");
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   303
        off += sprintf(buffer + off, "SAVEOP");
251
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   304
        first = 0;
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   305
    }
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   306
    if (states & EC_SLAVE_STATE_OP) {
325
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diff changeset
   307
        if (!first) off += sprintf(buffer + off, ", ");
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diff changeset
   308
        off += sprintf(buffer + off, "OP");
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diff changeset
   309
    }
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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diff changeset
   310
    if (states & EC_SLAVE_STATE_ACK_ERR) {
453
2ecaa53c6291 Changed output of ec_state_string() for error flag to "+ ERROR".
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diff changeset
   311
        if (!first) off += sprintf(buffer + off, " + ");
2ecaa53c6291 Changed output of ec_state_string() for error flag to "+ ERROR".
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diff changeset
   312
        off += sprintf(buffer + off, "ERROR");
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
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diff changeset
   313
    }
325
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diff changeset
   314
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   315
    return off;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   316
}
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diff changeset
   317
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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   318
/******************************************************************************
195
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diff changeset
   319
 *  Device interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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   320
 *****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
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diff changeset
   321
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
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diff changeset
   322
/**
573
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   323
   Offers an EtherCAT device to a certain master.
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diff changeset
   324
   The master decides, if it wants to use the device for EtherCAT operation,
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diff changeset
   325
   or not. It is important, that the offered net_device is not used by
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   326
   the kernel IP stack. If the master, accepted the offer, the address of
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   327
   the newly created EtherCAT device is written to the ecdev pointer, else
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   328
   the pointer is written to zero.
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   329
   \return 0 on success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   330
   \ingroup DeviceInterface
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   331
*/
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   332
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   333
int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   334
        ec_device_t **ecdev, /**< pointer to store a device on success */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   335
        const char *driver_name, /**< name of the network driver */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   336
        unsigned int device_index, /**< index of the supported device */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   337
        ec_pollfunc_t poll, /**< device poll function */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   338
        struct module *module /**< pointer to the module */
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   339
        )
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
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diff changeset
   340
{
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   341
    ec_master_t *master;
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
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diff changeset
   342
    char str[50]; // FIXME
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   343
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diff changeset
   344
    list_for_each_entry(master, &masters, list) {
575
9a2121b500b1 Layed out device ID functionality in own files.
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diff changeset
   345
        if (ec_device_id_check(master->main_device_id, net_dev,
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   346
                    driver_name, device_index)) {
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
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diff changeset
   347
            ec_device_id_print(master->main_device_id, str);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   348
            EC_INFO("Accepting device %s for master %u.\n",
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
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parents: 576
diff changeset
   349
                    str, master->index);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   350
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
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diff changeset
   351
            if (down_interruptible(&master->device_sem)) {
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   352
                EC_ERR("Interrupted while waiting for device semaphore!\n");
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   353
                return -1;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   354
            }
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
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diff changeset
   355
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
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diff changeset
   356
            if (master->main_device.dev) {
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   357
                EC_ERR("Master %u already has a device attached.\n",
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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parents: 578
diff changeset
   358
                        master->index);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   359
                up(&master->device_sem);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
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diff changeset
   360
                return -1;
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   361
            }
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   362
            
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   363
            ec_device_attach(&master->main_device, net_dev, poll, module);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   364
            up(&master->device_sem);
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   365
            
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   366
            sprintf(net_dev->name, "ec%u", master->index);
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   367
            *ecdev = &master->main_device; // offer accepted
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   368
            return 0; // no error
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
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diff changeset
   369
        }
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   370
    }
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diff changeset
   371
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diff changeset
   372
    *ecdev = NULL; // offer declined
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   373
    return 0; // no error
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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parents: 572
diff changeset
   374
}
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   375
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   376
/*****************************************************************************/
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   377
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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parents: 572
diff changeset
   378
/**
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   379
   Withdraws an EtherCAT device from the master.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   380
   The device is disconnected from the master and all device ressources
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   381
   are freed.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   382
   \attention Before calling this function, the ecdev_stop() function has
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   383
   to be called, to be sure that the master does not use the device any more.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   384
   \ingroup DeviceInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   385
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   386
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   387
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   388
{
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   389
    ec_master_t *master = device->master;
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   390
    char str[50]; // FIXME
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   391
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   392
    ec_device_id_print(master->main_device_id, str);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   393
    
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   394
    EC_INFO("Master %u releasing main device %s.\n", master->index, str);
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
   395
    
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   396
    down(&master->device_sem);
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   397
    ec_device_detach(device);
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   398
    up(&master->device_sem);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   399
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   400
497
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   401
/*****************************************************************************/
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   402
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   403
/**
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   404
   Opens the network device and makes the master enter IDLE mode.
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   405
   \return 0 on success, else < 0
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   406
   \ingroup DeviceInterface
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   407
*/
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   408
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   409
int ecdev_open(ec_device_t *device /**< EtherCAT device */)
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   410
{
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   411
    if (ec_device_open(device)) {
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   412
        EC_ERR("Failed to open device!\n");
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   413
        return -1;
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   414
    }
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   415
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 497
diff changeset
   416
    if (ec_master_enter_idle_mode(device->master)) {
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 497
diff changeset
   417
        EC_ERR("Failed to enter idle mode!\n");
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 497
diff changeset
   418
        return -1;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 497
diff changeset
   419
    }
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 497
diff changeset
   420
497
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   421
    return 0;
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   422
}
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   423
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   424
/*****************************************************************************/
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   425
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   426
/**
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   427
   Makes the master leave IDLE mode and closes the network device.
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   428
   \return 0 on success, else < 0
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   429
   \ingroup DeviceInterface
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   430
*/
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   431
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   432
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   433
{
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   434
    ec_master_leave_idle_mode(device->master);
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   435
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   436
    if (ec_device_close(device))
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   437
        EC_WARN("Failed to close device!\n");
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   438
}
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   439
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   440
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   441
 *  Realtime interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   442
 *****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   443
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   444
/**
541
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   445
 * Returns the version magic of the realtime interface.
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   446
 * \return ECRT version magic.
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   447
 * \ingroup RealtimeInterface
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   448
 */
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   449
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   450
unsigned int ecrt_version_magic(void)
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   451
{
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   452
    return ECRT_VERSION_MAGIC;
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   453
}
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   454
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   455
/*****************************************************************************/
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   456
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 533
diff changeset
   457
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   458
   Reserves an EtherCAT master for realtime operation.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   459
   \return pointer to reserved master, or NULL on error
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   460
   \ingroup RealtimeInterface
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 88
diff changeset
   461
*/
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 88
diff changeset
   462
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   463
ec_master_t *ecrt_request_master(unsigned int master_index
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   464
                                 /**< master index */
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   465
                                 )
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   466
{
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   467
    ec_master_t *master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   468
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   469
    EC_INFO("Requesting master %i...\n", master_index);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   470
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   471
    if (!(master = ec_find_master(master_index))) goto out_return;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   472
378
8fe6cd43787a Replaced master's reserved flag by atomic_t available.
Florian Pose <fp@igh-essen.com>
parents: 377
diff changeset
   473
    if (!atomic_dec_and_test(&master->available)) {
8fe6cd43787a Replaced master's reserved flag by atomic_t available.
Florian Pose <fp@igh-essen.com>
parents: 377
diff changeset
   474
        atomic_inc(&master->available);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   475
        EC_ERR("Master %i is already in use!\n", master_index);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   476
        goto out_return;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   477
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   478
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   479
    if (down_interruptible(&master->device_sem)) {
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   480
        EC_ERR("Interrupted while waiting for device!\n");
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   481
        goto out_release;
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   482
    }
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   483
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   484
    if (master->mode != EC_MASTER_MODE_IDLE) {
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   485
        up(&master->device_sem);
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   486
        EC_ERR("Master %i still waiting for devices!\n", master_index);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   487
        goto out_release;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   488
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   489
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   490
    if (!try_module_get(master->main_device.module)) {
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   491
        up(&master->device_sem);
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   492
        EC_ERR("Device module is unloading!\n");
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   493
        goto out_release;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   494
    }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   495
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   496
    up(&master->device_sem);
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   497
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   498
    if (!master->main_device.link_state) {
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   499
        EC_ERR("Link is DOWN.\n");
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   500
        goto out_module_put;
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   501
    }
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   502
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   503
    if (ec_master_enter_operation_mode(master)) {
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   504
        EC_ERR("Failed to enter OPERATION mode!\n");
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   505
        goto out_module_put;
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   506
    }
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   507
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   508
    EC_INFO("Successfully requested master %i.\n", master_index);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   509
    return master;
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   510
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   511
 out_module_put:
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   512
    module_put(master->main_device.module);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   513
 out_release:
378
8fe6cd43787a Replaced master's reserved flag by atomic_t available.
Florian Pose <fp@igh-essen.com>
parents: 377
diff changeset
   514
    atomic_inc(&master->available);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   515
 out_return:
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   516
    return NULL;
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   519
/*****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   520
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   521
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   522
   Releases a reserved EtherCAT master.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   523
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   524
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   525
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   526
void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   527
{
531
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   528
    EC_INFO("Releasing master %i...\n", master->index);
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   529
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   530
    if (master->mode != EC_MASTER_MODE_OPERATION) {
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   531
        EC_WARN("Master %i was was not requested!\n", master->index);
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   532
        return;
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   533
    }
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   534
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   535
    ec_master_leave_operation_mode(master);
151
1961b674466c Plugfest: master_open()/close() ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   536
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   537
    module_put(master->main_device.module);
378
8fe6cd43787a Replaced master's reserved flag by atomic_t available.
Florian Pose <fp@igh-essen.com>
parents: 377
diff changeset
   538
    atomic_inc(&master->available);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   539
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   540
    EC_INFO("Released master %i.\n", master->index);
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   541
}
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   542
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   543
/*****************************************************************************/
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   544
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   545
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   546
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   547
module_init(ec_init_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   548
module_exit(ec_cleanup_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   549
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   550
EXPORT_SYMBOL(ecdev_offer);
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   551
EXPORT_SYMBOL(ecdev_withdraw);
497
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   552
EXPORT_SYMBOL(ecdev_open);
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   553
EXPORT_SYMBOL(ecdev_close);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   554
EXPORT_SYMBOL(ecrt_request_master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   555
EXPORT_SYMBOL(ecrt_release_master);
545
6c4322e118d6 Added EXPORT macro for ecrt_version_magic().
Florian Pose <fp@igh-essen.com>
parents: 541
diff changeset
   556
EXPORT_SYMBOL(ecrt_version_magic);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   557
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   558
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   559
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   560
/*****************************************************************************/