master/device.c
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--
Improved DC sync at startup: Abort iterating though slaves and first correct
system time offsets, then begin configuring at slave 0.
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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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#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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    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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    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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out_tx_ring:
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        if (device->tx_skb[i])
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            dev_kfree_skb(device->tx_skb[i]);
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#ifdef EC_DEBUG_IF
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    ec_debug_clear(&device->dbg);
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out_return:
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#endif
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    return ret;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_device_clear(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    unsigned int i;
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    if (device->open) ec_device_close(device);
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        dev_kfree_skb(device->tx_skb[i]);
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#ifdef EC_DEBUG_IF
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    ec_debug_clear(&device->dbg);
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#endif
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}
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/*****************************************************************************/
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/** Associate with net_device.
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 */
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void ec_device_attach(
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        ec_device_t *device, /**< EtherCAT device */
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        struct net_device *net_dev, /**< net_device structure */
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        ec_pollfunc_t poll, /**< pointer to device's poll function */
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        struct module *module /**< the device's module */
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        )
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{
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    unsigned int i;
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    struct ethhdr *eth;
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    ec_device_detach(device); // resets fields
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    device->dev = net_dev;
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    device->poll = poll;
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    device->module = module;
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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        device->tx_skb[i]->dev = net_dev;
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        eth = (struct ethhdr *) (device->tx_skb[i]->data);
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        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);
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    }
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#ifdef EC_DEBUG_IF
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    ec_debug_register(&device->dbg, net_dev);
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#endif
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}
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/*****************************************************************************/
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/** Disconnect from net_device.
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 */
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void ec_device_detach(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    unsigned int i;
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#ifdef EC_DEBUG_IF
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    ec_debug_unregister(&device->dbg);
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#endif
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    device->dev = NULL;
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    device->poll = NULL;
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    device->module = NULL;
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    device->open = 0;
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    device->link_state = 0; // down
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    ec_device_clear_stats(device);
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        device->tx_skb[i]->dev = NULL;
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}
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/*****************************************************************************/
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/** Opens the EtherCAT device.
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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_open(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int ret;
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    if (!device->dev) {
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        EC_MASTER_ERR(device->master, "No net_device to open!\n");
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        return -ENODEV;
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    }
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    if (device->open) {
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        EC_MASTER_WARN(device->master, "Device already opened!\n");
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        return 0;
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    }
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    device->link_state = 0;
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    ec_device_clear_stats(device);
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_open(device->dev);
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#else
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    ret = device->dev->open(device->dev);
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#endif
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    if (!ret)
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        device->open = 1;
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    return ret;
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}
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/*****************************************************************************/
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/** Stops the EtherCAT device.
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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_close(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int ret;
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    if (!device->dev) {
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        EC_MASTER_ERR(device->master, "No device to close!\n");
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        return -ENODEV;
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    }
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    if (!device->open) {
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        EC_MASTER_WARN(device->master, "Device already closed!\n");
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        return 0;
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    }
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_stop(device->dev);
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#else
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    ret = device->dev->stop(device->dev);
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#endif
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    if (!ret)
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        device->open = 0;
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    return ret;
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}
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/*****************************************************************************/
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/** Returns a pointer to the device's transmit memory.
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 *
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 * \return pointer to the TX socket buffer
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 */
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uint8_t *ec_device_tx_data(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    /* cycle through socket buffers, because otherwise there is a race
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     * condition, if multiple frames are sent and the DMA is not scheduled in
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     * between. */
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    device->tx_ring_index++;
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    device->tx_ring_index %= EC_TX_RING_SIZE;
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    return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN;
0
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}
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39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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/*****************************************************************************/
0
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1011
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/** Sends the content of the transmit socket buffer.
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 *
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 * Cuts the socket buffer content to the (now known) size, and calls the
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 * start_xmit() function of the assigned net_device.
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 */
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void ec_device_send(
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        ec_device_t *device, /**< EtherCAT device */
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        size_t size /**< number of bytes to send */
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        )
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{
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    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];
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    // frame statistics
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    if (unlikely(jiffies - device->stats_jiffies >= HZ)) {
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        unsigned int i;
1863
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        u32 tx_frame_rate =
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            (u32) (device->tx_count - device->last_tx_count) * 1000;
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        u32 tx_byte_rate =
1956
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            (device->tx_bytes - device->last_tx_bytes);
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        u64 loss = device->tx_count - device->rx_count;
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        s32 loss_rate = (s32) (loss - device->last_loss) * 1000;
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        for (i = 0; i < EC_RATE_COUNT; i++) {
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            unsigned int n = rate_intervals[i];
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            device->tx_frame_rates[i] =
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                (device->tx_frame_rates[i] * (n - 1) + tx_frame_rate) / n;
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            device->tx_byte_rates[i] =
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                (device->tx_byte_rates[i] * (n - 1) + tx_byte_rate) / n;
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            device->loss_rates[i] =
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                (device->loss_rates[i] * (n - 1) + loss_rate) / n;
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   329
        }
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        device->last_tx_count = device->tx_count;
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        device->last_tx_bytes = device->tx_bytes;
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   332
        device->last_loss = loss;
1852
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   333
        device->stats_jiffies = jiffies;
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   334
    }
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195
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    // set the right length for the data
693
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    skb->len = ETH_HLEN + size;
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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   339
    if (unlikely(device->master->debug_level > 1)) {
1921
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   340
        EC_MASTER_DBG(device->master, 2, "Sending frame:\n");
1554
e07a0f8de03d Print complete Ethernet frame during debug.
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   341
        ec_print_data(skb->data, ETH_HLEN + size);
693
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   342
    }
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   343
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   344
    // start sending
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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e07a0f8de03d Print complete Ethernet frame during debug.
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   346
    if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) ==
e07a0f8de03d Print complete Ethernet frame during debug.
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   347
            NETDEV_TX_OK)
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   348
#else
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   349
    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK)
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   350
#endif
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   351
    {
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   352
        device->tx_count++;
1857
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   353
        device->tx_bytes += ETH_HLEN + size;
1507
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   354
#ifdef EC_DEBUG_IF
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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
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diff changeset
   356
#endif
8bacb27f3aa2 Send frame to debug-if and debug-ring only when transmitted
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   357
#ifdef EC_DEBUG_RING
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diff changeset
   358
        ec_device_debug_ring_append(
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   359
                device, TX, skb->data + ETH_HLEN, size);
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   360
#endif
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diff changeset
   361
    } else {
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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diff changeset
   362
        device->tx_errors++;
1507
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diff changeset
   363
    }
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diff changeset
   364
}
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   366
/*****************************************************************************/
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   367
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   368
/** Clears the frame statistics.
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   369
 */
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   370
void ec_device_clear_stats(
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diff changeset
   371
        ec_device_t *device /**< EtherCAT device */
10175d5f35ea Fixed clearing frame statistics on link down.
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   372
        )
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   373
{
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   374
    unsigned int i;
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   375
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   376
    // zero frame statistics
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   377
    device->tx_count = 0;
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   378
    device->rx_count = 0;
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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   379
    device->tx_errors = 0;
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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   380
    device->tx_bytes = 0;
1856
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   381
    device->last_tx_count = 0;
1857
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diff changeset
   382
    device->last_tx_bytes = 0;
1856
10175d5f35ea Fixed clearing frame statistics on link down.
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diff changeset
   383
    device->last_loss = 0;
10175d5f35ea Fixed clearing frame statistics on link down.
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diff changeset
   384
    for (i = 0; i < EC_RATE_COUNT; i++) {
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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diff changeset
   385
        device->tx_frame_rates[i] = 0;
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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parents: 1856
diff changeset
   386
        device->tx_byte_rates[i] = 0;
1856
10175d5f35ea Fixed clearing frame statistics on link down.
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parents: 1854
diff changeset
   387
        device->loss_rates[i] = 0;
10175d5f35ea Fixed clearing frame statistics on link down.
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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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   394
/** Appends frame data to the debug ring.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   421
/** Outputs the debug ring.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   462
/** Calls the poll function of the assigned net_device.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   463
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   464
 * The master itself works without using interrupts. Therefore the processing
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   465
 * of received data and status changes of the network device has to be
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   466
 * done by the master calling the ISR "manually".
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   467
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   468
void ec_device_poll(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   469
        ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   486
/** Withdraws an EtherCAT device from the master.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   487
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   488
 * The device is disconnected from the master and all device ressources
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   489
 * are freed.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   490
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   491
 * \attention Before calling this function, the ecdev_stop() function has
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   492
 *            to be called, to be sure that the master does not use the device
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   493
 *            any more.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   494
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   495
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   496
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   497
{
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   498
    ec_master_t *master = device->master;
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   499
    char str[20];
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   500
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   501
    ec_mac_print(device->dev->dev_addr, str);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   502
    EC_MASTER_INFO(master, "Releasing main device %s.\n", str);
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   507
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   508
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   509
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   512
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   513
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   514
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   515
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   516
int ecdev_open(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   530
    }
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   531
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   532
    return 0;
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   533
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   534
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   535
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   538
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   539
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   540
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   541
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   542
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   545
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   546
    if (ec_device_close(device))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   547
        EC_MASTER_WARN(device->master, "Failed to close device!\n");
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   548
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   549
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   550
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   551
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   552
/** Accepts a received frame.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   553
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   554
 * Forwards the received data to the master. The master will analyze the frame
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   555
 * and dispatch the received commands to the sending instances.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   556
 * 
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   557
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   558
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   559
void ecdev_receive(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   560
        ec_device_t *device, /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   561
        const void *data, /**< pointer to received data */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   562
        size_t size /**< number of bytes received */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   569
        EC_MASTER_WARN(device->master, "%s() called with NULL data.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   574
    device->rx_count++;
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   593
/** Sets a new link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   594
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   595
 * If the device notifies the master about the link being down, the master
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   596
 * will not try to send frames using this device.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   597
 * 
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   598
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   599
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   600
void ecdev_set_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   605
    if (unlikely(!device)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   606
        EC_MASTER_WARN(device->master, "ecdev_set_link(): No device!\n");
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   607
        return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   608
    }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   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
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   611
        device->link_state = state;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   612
        EC_MASTER_INFO(device->master,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   613
                "Link state changed to %s.\n", (state ? "UP" : "DOWN"));
96
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   614
    }
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   615
}
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   616
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   617
/*****************************************************************************/
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   618
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   619
/** Reads the link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   620
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   621
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   622
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   623
uint8_t ecdev_get_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   624
        const ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   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
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   639
EXPORT_SYMBOL(ecdev_withdraw);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   640
EXPORT_SYMBOL(ecdev_open);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   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
/*****************************************************************************/