author | Florian Pose <fp@igh-essen.com> |
Tue, 09 Aug 2011 22:10:45 +0200 | |
changeset 2098 | 0ce254664c81 |
parent 2028 | 55854f070c4a |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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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 device methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/skbuff.h> |
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#include <linux/if_ether.h> |
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#include <linux/netdevice.h> |
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||
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#include "device.h" |
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#include "master.h" |
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#ifdef EC_DEBUG_RING |
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#define timersub(a, b, result) \ |
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do { \ |
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(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ |
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(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \ |
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if ((result)->tv_usec < 0) { \ |
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--(result)->tv_sec; \ |
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(result)->tv_usec += 1000000; \ |
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} \ |
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} while (0) |
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#endif |
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/** List of intervals for frame statistics [s]. |
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*/ |
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static const unsigned int rate_intervals[] = { |
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1, 10, 60 |
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}; |
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/*****************************************************************************/ |
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/** Constructor. |
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* |
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* \return 0 in case of success, else < 0 |
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*/ |
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int ec_device_init( |
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ec_device_t *device, /**< EtherCAT device */ |
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ec_master_t *master /**< master owning the device */ |
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) |
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{ |
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int ret; |
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unsigned int i; |
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struct ethhdr *eth; |
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#ifdef EC_DEBUG_IF |
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char ifname[10]; |
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char mb = 'x'; |
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#endif |
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#ifdef EC_DEBUG_RING |
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device->debug_frame_index = 0; |
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device->debug_frame_count = 0; |
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#endif |
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device->master = master; |
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device->tx_ring_index = 0; |
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#ifdef EC_DEBUG_IF |
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if (device == &master->main_device) |
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mb = 'm'; |
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else if (device == &master->backup_device) |
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mb = 'b'; |
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|
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sprintf(ifname, "ecdbg%c%u", mb, master->index); |
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ret = ec_debug_init(&device->dbg, device, ifname); |
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if (ret < 0) { |
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EC_MASTER_ERR(master, "Failed to init debug device!\n"); |
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goto out_return; |
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} |
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#endif |
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for (i = 0; i < EC_TX_RING_SIZE; i++) |
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device->tx_skb[i] = NULL; |
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|
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for (i = 0; i < EC_TX_RING_SIZE; i++) { |
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if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) { |
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EC_MASTER_ERR(master, "Error allocating device socket buffer!\n"); |
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ret = -ENOMEM; |
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goto out_tx_ring; |
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} |
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// add Ethernet-II-header |
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skb_reserve(device->tx_skb[i], ETH_HLEN); |
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eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN); |
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eth->h_proto = htons(0x88A4); |
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memset(eth->h_dest, 0xFF, ETH_ALEN); |
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} |
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ec_device_detach(device); // resets remaining fields |
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return 0; |
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|
124 |
out_tx_ring: |
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diff
changeset
|
125 |
for (i = 0; i < EC_TX_RING_SIZE; i++) |
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Switched to tx socket buffer ring to avoid race conditions when multiple
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parents:
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diff
changeset
|
126 |
if (device->tx_skb[i]) |
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Switched to tx socket buffer ring to avoid race conditions when multiple
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diff
changeset
|
127 |
dev_kfree_skb(device->tx_skb[i]); |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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diff
changeset
|
128 |
#ifdef EC_DEBUG_IF |
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
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|
129 |
ec_debug_clear(&device->dbg); |
693
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|
130 |
out_return: |
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diff
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|
131 |
#endif |
1313
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|
132 |
return ret; |
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Improved error case return codes of many functions.
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|
133 |
} |
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Improved error case return codes of many functions.
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changeset
|
134 |
|
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Improved error case return codes of many functions.
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changeset
|
135 |
/*****************************************************************************/ |
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|
136 |
|
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Improved error case return codes of many functions.
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changeset
|
137 |
/** Destructor. |
1011 | 138 |
*/ |
139 |
void ec_device_clear( |
|
140 |
ec_device_t *device /**< EtherCAT device */ |
|
141 |
) |
|
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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|
142 |
{ |
693
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diff
changeset
|
143 |
unsigned int i; |
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diff
changeset
|
144 |
|
579
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Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
145 |
if (device->open) ec_device_close(device); |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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parents:
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diff
changeset
|
146 |
for (i = 0; i < EC_TX_RING_SIZE; i++) |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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parents:
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diff
changeset
|
147 |
dev_kfree_skb(device->tx_skb[i]); |
679
62fc387ec928
Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
Florian Pose <fp@igh-essen.com>
parents:
670
diff
changeset
|
148 |
#ifdef EC_DEBUG_IF |
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
149 |
ec_debug_clear(&device->dbg); |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
150 |
#endif |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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parents:
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diff
changeset
|
151 |
} |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
152 |
|
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
153 |
/*****************************************************************************/ |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
154 |
|
1011 | 155 |
/** Associate with net_device. |
156 |
*/ |
|
157 |
void ec_device_attach( |
|
158 |
ec_device_t *device, /**< EtherCAT device */ |
|
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff
changeset
|
159 |
struct net_device *net_dev, /**< net_device structure */ |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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parents:
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diff
changeset
|
160 |
ec_pollfunc_t poll, /**< pointer to device's poll function */ |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
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parents:
574
diff
changeset
|
161 |
struct module *module /**< the device's module */ |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
162 |
) |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
163 |
{ |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
164 |
unsigned int i; |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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parents:
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diff
changeset
|
165 |
struct ethhdr *eth; |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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parents:
692
diff
changeset
|
166 |
|
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
167 |
ec_device_detach(device); // resets fields |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
168 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
169 |
device->dev = net_dev; |
533
acdd1f9ef7ab
Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents:
493
diff
changeset
|
170 |
device->poll = poll; |
539
7bb92fca28ef
Fixed invalid module pointer in device structure.
Florian Pose <fp@igh-essen.com>
parents:
533
diff
changeset
|
171 |
device->module = module; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
172 |
|
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
173 |
for (i = 0; i < EC_TX_RING_SIZE; i++) { |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
174 |
device->tx_skb[i]->dev = net_dev; |
759
fe32d4cdc9c3
Fixed source MAC address setting bug.
Florian Pose <fp@igh-essen.com>
parents:
725
diff
changeset
|
175 |
eth = (struct ethhdr *) (device->tx_skb[i]->data); |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
176 |
memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN); |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
177 |
} |
1305
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
178 |
|
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
179 |
#ifdef EC_DEBUG_IF |
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
180 |
ec_debug_register(&device->dbg, net_dev); |
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
181 |
#endif |
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
182 |
} |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
183 |
|
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
184 |
/*****************************************************************************/ |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
185 |
|
1011 | 186 |
/** Disconnect from net_device. |
187 |
*/ |
|
188 |
void ec_device_detach( |
|
189 |
ec_device_t *device /**< EtherCAT device */ |
|
190 |
) |
|
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
191 |
{ |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
192 |
unsigned int i; |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
193 |
|
1305
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
194 |
#ifdef EC_DEBUG_IF |
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
195 |
ec_debug_unregister(&device->dbg); |
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
196 |
#endif |
de3fcbb6773e
Create debug interface with address of physical device on attachment.
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
197 |
|
579
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
198 |
device->dev = NULL; |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
199 |
device->poll = NULL; |
17c6fd3b076e
Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents:
574
diff
changeset
|
200 |
device->module = NULL; |
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
201 |
device->open = 0; |
96 | 202 |
device->link_state = 0; // down |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
203 |
|
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
204 |
ec_device_clear_stats(device); |
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
205 |
|
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
206 |
for (i = 0; i < EC_TX_RING_SIZE; i++) |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
207 |
device->tx_skb[i]->dev = NULL; |
0 | 208 |
} |
209 |
||
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
210 |
/*****************************************************************************/ |
0 | 211 |
|
1011 | 212 |
/** Opens the EtherCAT device. |
213 |
* |
|
214 |
* \return 0 in case of success, else < 0 |
|
215 |
*/ |
|
216 |
int ec_device_open( |
|
217 |
ec_device_t *device /**< EtherCAT device */ |
|
218 |
) |
|
0 | 219 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
220 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
221 |
|
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
222 |
if (!device->dev) { |
1921 | 223 |
EC_MASTER_ERR(device->master, "No net_device to open!\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
224 |
return -ENODEV; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
225 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
226 |
|
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
227 |
if (device->open) { |
1921 | 228 |
EC_MASTER_WARN(device->master, "Device already opened!\n"); |
91
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
229 |
return 0; |
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
230 |
} |
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
231 |
|
96 | 232 |
device->link_state = 0; |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
233 |
|
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
234 |
ec_device_clear_stats(device); |
91
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
235 |
|
1476
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
236 |
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29) |
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
237 |
ret = device->dev->netdev_ops->ndo_open(device->dev); |
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
238 |
#else |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
239 |
ret = device->dev->open(device->dev); |
1476
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
240 |
#endif |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
241 |
if (!ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
242 |
device->open = 1; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
243 |
|
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
244 |
return ret; |
0 | 245 |
} |
246 |
||
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
247 |
/*****************************************************************************/ |
0 | 248 |
|
1011 | 249 |
/** Stops the EtherCAT device. |
250 |
* |
|
251 |
* \return 0 in case of success, else < 0 |
|
252 |
*/ |
|
253 |
int ec_device_close( |
|
254 |
ec_device_t *device /**< EtherCAT device */ |
|
255 |
) |
|
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
256 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
257 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
258 |
|
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
259 |
if (!device->dev) { |
1921 | 260 |
EC_MASTER_ERR(device->master, "No device to close!\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
261 |
return -ENODEV; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
262 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
263 |
|
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
264 |
if (!device->open) { |
1921 | 265 |
EC_MASTER_WARN(device->master, "Device already closed!\n"); |
98
f564d0929292
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|
266 |
return 0; |
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|
267 |
} |
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|
268 |
|
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|
269 |
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29) |
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|
270 |
ret = device->dev->netdev_ops->ndo_stop(device->dev); |
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|
271 |
#else |
1313
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|
272 |
ret = device->dev->stop(device->dev); |
1476
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|
273 |
#endif |
1313
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|
274 |
if (!ret) |
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|
275 |
device->open = 0; |
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|
276 |
|
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|
277 |
return ret; |
73
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|
278 |
} |
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|
279 |
|
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|
280 |
/*****************************************************************************/ |
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|
281 |
|
1011 | 282 |
/** Returns a pointer to the device's transmit memory. |
283 |
* |
|
284 |
* \return pointer to the TX socket buffer |
|
285 |
*/ |
|
286 |
uint8_t *ec_device_tx_data( |
|
287 |
ec_device_t *device /**< EtherCAT device */ |
|
288 |
) |
|
98
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|
289 |
{ |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
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|
290 |
/* cycle through socket buffers, because otherwise there is a race |
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diff
changeset
|
291 |
* condition, if multiple frames are sent and the DMA is not scheduled in |
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diff
changeset
|
292 |
* between. */ |
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diff
changeset
|
293 |
device->tx_ring_index++; |
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changeset
|
294 |
device->tx_ring_index %= EC_TX_RING_SIZE; |
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changeset
|
295 |
return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN; |
0 | 296 |
} |
297 |
||
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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diff
changeset
|
298 |
/*****************************************************************************/ |
0 | 299 |
|
1011 | 300 |
/** Sends the content of the transmit socket buffer. |
301 |
* |
|
302 |
* Cuts the socket buffer content to the (now known) size, and calls the |
|
303 |
* start_xmit() function of the assigned net_device. |
|
304 |
*/ |
|
305 |
void ec_device_send( |
|
306 |
ec_device_t *device, /**< EtherCAT device */ |
|
307 |
size_t size /**< number of bytes to send */ |
|
308 |
) |
|
73
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|
309 |
{ |
693
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|
310 |
struct sk_buff *skb = device->tx_skb[device->tx_ring_index]; |
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diff
changeset
|
311 |
|
1851
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|
312 |
// frame statistics |
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changeset
|
313 |
if (unlikely(jiffies - device->stats_jiffies >= HZ)) { |
a56bd34e20a1
Frame statistics in 'ethercat master' output.
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changeset
|
314 |
unsigned int i; |
1863 | 315 |
u32 tx_frame_rate = |
316 |
(u32) (device->tx_count - device->last_tx_count) * 1000; |
|
317 |
u32 tx_byte_rate = |
|
1956
f461dc0d145a
Fixed frame statistics overflow (to be verified).
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
318 |
(device->tx_bytes - device->last_tx_bytes); |
1863 | 319 |
u64 loss = device->tx_count - device->rx_count; |
320 |
s32 loss_rate = (s32) (loss - device->last_loss) * 1000; |
|
1856
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diff
changeset
|
321 |
for (i = 0; i < EC_RATE_COUNT; i++) { |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
322 |
unsigned int n = rate_intervals[i]; |
1857
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changeset
|
323 |
device->tx_frame_rates[i] = |
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
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changeset
|
324 |
(device->tx_frame_rates[i] * (n - 1) + tx_frame_rate) / n; |
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changeset
|
325 |
device->tx_byte_rates[i] = |
ed8b490b5bc3
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diff
changeset
|
326 |
(device->tx_byte_rates[i] * (n - 1) + tx_byte_rate) / n; |
1856
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Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
327 |
device->loss_rates[i] = |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
328 |
(device->loss_rates[i] * (n - 1) + loss_rate) / n; |
1851
a56bd34e20a1
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diff
changeset
|
329 |
} |
1856
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Fixed clearing frame statistics on link down.
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parents:
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diff
changeset
|
330 |
device->last_tx_count = device->tx_count; |
1857
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parents:
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diff
changeset
|
331 |
device->last_tx_bytes = device->tx_bytes; |
1856
10175d5f35ea
Fixed clearing frame statistics on link down.
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parents:
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diff
changeset
|
332 |
device->last_loss = loss; |
1852 | 333 |
device->stats_jiffies = jiffies; |
1851
a56bd34e20a1
Frame statistics in 'ethercat master' output.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
334 |
} |
a56bd34e20a1
Frame statistics in 'ethercat master' output.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
335 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
336 |
// set the right length for the data |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
337 |
skb->len = ETH_HLEN + size; |
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
338 |
|
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
339 |
if (unlikely(device->master->debug_level > 1)) { |
1921 | 340 |
EC_MASTER_DBG(device->master, 2, "Sending frame:\n"); |
1554
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
341 |
ec_print_data(skb->data, ETH_HLEN + size); |
693
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
342 |
} |
e341f1788608
Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents:
692
diff
changeset
|
343 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
344 |
// start sending |
1476
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
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parents:
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diff
changeset
|
345 |
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29) |
1554
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
346 |
if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) == |
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
347 |
NETDEV_TX_OK) |
1476
1da1c72fd495
Implemented new network device operations for kernel 2.6.29, thanks to M. Goetze.
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parents:
1363
diff
changeset
|
348 |
#else |
1554
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
349 |
if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK) |
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
350 |
#endif |
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
351 |
{ |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
352 |
device->tx_count++; |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
353 |
device->tx_bytes += ETH_HLEN + size; |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
354 |
#ifdef EC_DEBUG_IF |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
355 |
ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size); |
725
8bacb27f3aa2
Send frame to debug-if and debug-ring only when transmitted
Florian Pose <fp@igh-essen.com>
parents:
693
diff
changeset
|
356 |
#endif |
8bacb27f3aa2
Send frame to debug-if and debug-ring only when transmitted
Florian Pose <fp@igh-essen.com>
parents:
693
diff
changeset
|
357 |
#ifdef EC_DEBUG_RING |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
358 |
ec_device_debug_ring_append( |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
359 |
device, TX, skb->data + ETH_HLEN, size); |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
360 |
#endif |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
361 |
} else { |
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
362 |
device->tx_errors++; |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1476
diff
changeset
|
363 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
364 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
365 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
366 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
367 |
|
1856
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
368 |
/** Clears the frame statistics. |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
369 |
*/ |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
370 |
void ec_device_clear_stats( |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
371 |
ec_device_t *device /**< EtherCAT device */ |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
372 |
) |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
373 |
{ |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
374 |
unsigned int i; |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
375 |
|
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
376 |
// zero frame statistics |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
377 |
device->tx_count = 0; |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
378 |
device->rx_count = 0; |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
379 |
device->tx_errors = 0; |
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
380 |
device->tx_bytes = 0; |
1856
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
381 |
device->last_tx_count = 0; |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
382 |
device->last_tx_bytes = 0; |
1856
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
383 |
device->last_loss = 0; |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
384 |
for (i = 0; i < EC_RATE_COUNT; i++) { |
1857
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
385 |
device->tx_frame_rates[i] = 0; |
ed8b490b5bc3
Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents:
1856
diff
changeset
|
386 |
device->tx_byte_rates[i] = 0; |
1856
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
387 |
device->loss_rates[i] = 0; |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
388 |
} |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
389 |
} |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
390 |
|
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
391 |
/*****************************************************************************/ |
10175d5f35ea
Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents:
1854
diff
changeset
|
392 |
|
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
393 |
#ifdef EC_DEBUG_RING |
1011 | 394 |
/** Appends frame data to the debug ring. |
395 |
*/ |
|
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
396 |
void ec_device_debug_ring_append( |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
397 |
ec_device_t *device, /**< EtherCAT device */ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
398 |
ec_debug_frame_dir_t dir, /**< direction */ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
399 |
const void *data, /**< frame data */ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
400 |
size_t size /**< data size */ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
401 |
) |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
402 |
{ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
403 |
ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index]; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
404 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
405 |
df->dir = dir; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
406 |
if (dir == TX) |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
407 |
do_gettimeofday(&df->t); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
408 |
else |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
409 |
df->t = device->timeval_poll; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
410 |
memcpy(df->data, data, size); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
411 |
df->data_size = size; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
412 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
413 |
device->debug_frame_index++; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
414 |
device->debug_frame_index %= EC_DEBUG_RING_SIZE; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
415 |
if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE)) |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
416 |
device->debug_frame_count++; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
417 |
} |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
418 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
419 |
/*****************************************************************************/ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
420 |
|
1011 | 421 |
/** Outputs the debug ring. |
422 |
*/ |
|
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
423 |
void ec_device_debug_ring_print( |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
424 |
const ec_device_t *device /**< EtherCAT device */ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
425 |
) |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
426 |
{ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
427 |
int i; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
428 |
unsigned int ring_index; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
429 |
const ec_debug_frame_t *df; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
430 |
struct timeval t0, diff; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
431 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
432 |
// calculate index of the newest frame in the ring to get its time |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
433 |
ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE - 1) |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
434 |
% EC_DEBUG_RING_SIZE; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
435 |
t0 = device->debug_frames[ring_index].t; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
436 |
|
1921 | 437 |
EC_MASTER_DBG(device->master, 1, "Debug ring %u:\n", ring_index); |
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
438 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
439 |
// calculate index of the oldest frame in the ring |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
440 |
ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
441 |
- device->debug_frame_count) % EC_DEBUG_RING_SIZE; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
442 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
443 |
for (i = 0; i < device->debug_frame_count; i++) { |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
444 |
df = &device->debug_frames[ring_index]; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
445 |
timersub(&t0, &df->t, &diff); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
446 |
|
1921 | 447 |
EC_MASTER_DBG(device->master, 1, "Frame %u, dt=%u.%06u s, %s:\n", |
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
448 |
i + 1 - device->debug_frame_count, |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
449 |
(unsigned int) diff.tv_sec, |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
450 |
(unsigned int) diff.tv_usec, |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
451 |
(df->dir == TX) ? "TX" : "RX"); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
452 |
ec_print_data(df->data, df->data_size); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
453 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
454 |
ring_index++; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
455 |
ring_index %= EC_DEBUG_RING_SIZE; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
456 |
} |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
457 |
} |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
458 |
#endif |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
459 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
460 |
/*****************************************************************************/ |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
461 |
|
1011 | 462 |
/** Calls the poll function of the assigned net_device. |
463 |
* |
|
464 |
* The master itself works without using interrupts. Therefore the processing |
|
465 |
* of received data and status changes of the network device has to be |
|
466 |
* done by the master calling the ISR "manually". |
|
467 |
*/ |
|
468 |
void ec_device_poll( |
|
469 |
ec_device_t *device /**< EtherCAT device */ |
|
470 |
) |
|
533
acdd1f9ef7ab
Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents:
493
diff
changeset
|
471 |
{ |
1040
d2527675cdd5
Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
472 |
#ifdef EC_HAVE_CYCLES |
533
acdd1f9ef7ab
Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents:
493
diff
changeset
|
473 |
device->cycles_poll = get_cycles(); |
1040
d2527675cdd5
Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents:
1029
diff
changeset
|
474 |
#endif |
533
acdd1f9ef7ab
Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents:
493
diff
changeset
|
475 |
device->jiffies_poll = jiffies; |
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
476 |
#ifdef EC_DEBUG_RING |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
477 |
do_gettimeofday(&device->timeval_poll); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
478 |
#endif |
533
acdd1f9ef7ab
Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents:
493
diff
changeset
|
479 |
device->poll(device->dev); |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
480 |
} |
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
481 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
482 |
/****************************************************************************** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
483 |
* Device interface |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
484 |
*****************************************************************************/ |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
485 |
|
1011 | 486 |
/** Withdraws an EtherCAT device from the master. |
487 |
* |
|
488 |
* The device is disconnected from the master and all device ressources |
|
489 |
* are freed. |
|
490 |
* |
|
491 |
* \attention Before calling this function, the ecdev_stop() function has |
|
492 |
* to be called, to be sure that the master does not use the device |
|
493 |
* any more. |
|
494 |
* \ingroup DeviceInterface |
|
495 |
*/ |
|
496 |
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */) |
|
497 |
{ |
|
498 |
ec_master_t *master = device->master; |
|
499 |
char str[20]; |
|
500 |
||
501 |
ec_mac_print(device->dev->dev_addr, str); |
|
1921 | 502 |
EC_MASTER_INFO(master, "Releasing main device %s.\n", str); |
1011 | 503 |
|
2028
55854f070c4a
use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents:
1956
diff
changeset
|
504 |
ec_mutex_lock(&master->device_mutex); |
1011 | 505 |
ec_device_detach(device); |
2028
55854f070c4a
use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents:
1956
diff
changeset
|
506 |
ec_mutex_unlock(&master->device_mutex); |
1011 | 507 |
} |
508 |
||
509 |
/*****************************************************************************/ |
|
510 |
||
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1011
diff
changeset
|
511 |
/** Opens the network device and makes the master enter IDLE phase. |
1011 | 512 |
* |
513 |
* \return 0 on success, else < 0 |
|
514 |
* \ingroup DeviceInterface |
|
515 |
*/ |
|
516 |
int ecdev_open(ec_device_t *device /**< EtherCAT device */) |
|
517 |
{ |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
518 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
519 |
|
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
520 |
ret = ec_device_open(device); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
521 |
if (ret) { |
1921 | 522 |
EC_MASTER_ERR(device->master, "Failed to open device!\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
523 |
return ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
524 |
} |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
525 |
|
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
526 |
ret = ec_master_enter_idle_phase(device->master); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
527 |
if (ret) { |
1921 | 528 |
EC_MASTER_ERR(device->master, "Failed to enter IDLE phase!\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1305
diff
changeset
|
529 |
return ret; |
1011 | 530 |
} |
531 |
||
532 |
return 0; |
|
533 |
} |
|
534 |
||
535 |
/*****************************************************************************/ |
|
536 |
||
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1011
diff
changeset
|
537 |
/** Makes the master leave IDLE phase and closes the network device. |
1011 | 538 |
* |
539 |
* \return 0 on success, else < 0 |
|
540 |
* \ingroup DeviceInterface |
|
541 |
*/ |
|
542 |
void ecdev_close(ec_device_t *device /**< EtherCAT device */) |
|
543 |
{ |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1011
diff
changeset
|
544 |
ec_master_leave_idle_phase(device->master); |
1011 | 545 |
|
546 |
if (ec_device_close(device)) |
|
1921 | 547 |
EC_MASTER_WARN(device->master, "Failed to close device!\n"); |
1011 | 548 |
} |
549 |
||
550 |
/*****************************************************************************/ |
|
551 |
||
552 |
/** Accepts a received frame. |
|
553 |
* |
|
554 |
* Forwards the received data to the master. The master will analyze the frame |
|
555 |
* and dispatch the received commands to the sending instances. |
|
556 |
* |
|
557 |
* \ingroup DeviceInterface |
|
558 |
*/ |
|
559 |
void ecdev_receive( |
|
560 |
ec_device_t *device, /**< EtherCAT device */ |
|
561 |
const void *data, /**< pointer to received data */ |
|
562 |
size_t size /**< number of bytes received */ |
|
563 |
) |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
70
diff
changeset
|
564 |
{ |
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
565 |
const void *ec_data = data + ETH_HLEN; |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
566 |
size_t ec_size = size - ETH_HLEN; |
1521
2180c608e250
Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
567 |
|
2180c608e250
Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
568 |
if (unlikely(!data)) { |
1921 | 569 |
EC_MASTER_WARN(device->master, "%s() called with NULL data.\n", |
570 |
__func__); |
|
1521
2180c608e250
Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
571 |
return; |
2180c608e250
Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
572 |
} |
2180c608e250
Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents:
1507
diff
changeset
|
573 |
|
493 | 574 |
device->rx_count++; |
575 |
||
78
3d74183d6c6b
Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
576 |
if (unlikely(device->master->debug_level > 1)) { |
1921 | 577 |
EC_MASTER_DBG(device->master, 2, "Received frame:\n"); |
1554
e07a0f8de03d
Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents:
1521
diff
changeset
|
578 |
ec_print_data(data, size); |
231
767548c75bf3
Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents:
211
diff
changeset
|
579 |
} |
767548c75bf3
Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents:
211
diff
changeset
|
580 |
|
679
62fc387ec928
Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
Florian Pose <fp@igh-essen.com>
parents:
670
diff
changeset
|
581 |
#ifdef EC_DEBUG_IF |
231
767548c75bf3
Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents:
211
diff
changeset
|
582 |
ec_debug_send(&device->dbg, data, size); |
392
eaee3c8d6ae0
Debug interfaces not compiled by default.
Florian Pose <fp@igh-essen.com>
parents:
331
diff
changeset
|
583 |
#endif |
692
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
584 |
#ifdef EC_DEBUG_RING |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
585 |
ec_device_debug_ring_append(device, RX, ec_data, ec_size); |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
586 |
#endif |
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
587 |
|
fe7cf37c33f1
Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents:
687
diff
changeset
|
588 |
ec_master_receive_datagrams(device->master, ec_data, ec_size); |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
589 |
} |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
590 |
|
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
591 |
/*****************************************************************************/ |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
42
diff
changeset
|
592 |
|
1011 | 593 |
/** Sets a new link state. |
594 |
* |
|
595 |
* If the device notifies the master about the link being down, the master |
|
596 |
* will not try to send frames using this device. |
|
597 |
* |
|
598 |
* \ingroup DeviceInterface |
|
599 |
*/ |
|
600 |
void ecdev_set_link( |
|
601 |
ec_device_t *device, /**< EtherCAT device */ |
|
670
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
602 |
uint8_t state /**< new link state */ |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
603 |
) |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
604 |
{ |
191 | 605 |
if (unlikely(!device)) { |
1921 | 606 |
EC_MASTER_WARN(device->master, "ecdev_set_link(): No device!\n"); |
191 | 607 |
return; |
608 |
} |
|
609 |
||
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
610 |
if (likely(state != device->link_state)) { |
96 | 611 |
device->link_state = state; |
1921 | 612 |
EC_MASTER_INFO(device->master, |
613 |
"Link state changed to %s.\n", (state ? "UP" : "DOWN")); |
|
96 | 614 |
} |
615 |
} |
|
616 |
||
617 |
/*****************************************************************************/ |
|
618 |
||
1011 | 619 |
/** Reads the link state. |
620 |
* |
|
621 |
* \ingroup DeviceInterface |
|
622 |
*/ |
|
623 |
uint8_t ecdev_get_link( |
|
624 |
const ec_device_t *device /**< EtherCAT device */ |
|
625 |
) |
|
670
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
626 |
{ |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
627 |
if (unlikely(!device)) { |
1921 | 628 |
EC_MASTER_WARN(device->master, "ecdev_get_link(): No device!\n"); |
670
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
629 |
return 0; |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
630 |
} |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
631 |
|
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
632 |
return device->link_state; |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
633 |
} |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
634 |
|
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
635 |
/*****************************************************************************/ |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
636 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
637 |
/** \cond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
638 |
|
1011 | 639 |
EXPORT_SYMBOL(ecdev_withdraw); |
640 |
EXPORT_SYMBOL(ecdev_open); |
|
641 |
EXPORT_SYMBOL(ecdev_close); |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
642 |
EXPORT_SYMBOL(ecdev_receive); |
670
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
643 |
EXPORT_SYMBOL(ecdev_get_link); |
f57de4585a5f
Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents:
590
diff
changeset
|
644 |
EXPORT_SYMBOL(ecdev_set_link); |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
26
diff
changeset
|
645 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
646 |
/** \endcond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
647 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
648 |
/*****************************************************************************/ |