author | Florian Pose <fp@igh-essen.com> |
Mon, 29 May 2006 09:08:56 +0000 | |
branch | stable-1.0 |
changeset 1619 | 0d4119024f55 |
parent 1618 | 5cff10efb927 |
child 1623 | 05622513f627 |
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 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT master driver module. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/kernel.h> |
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#include <linux/init.h> |
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#include "globals.h" |
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#include "master.h" |
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#include "device.h" |
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/*****************************************************************************/ |
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int __init ec_init_module(void); |
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void __exit ec_cleanup_module(void); |
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/*****************************************************************************/ |
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/** |
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Compile version info. |
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*/ |
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#define COMPILE_INFO EC_STR(EC_MASTER_VERSION_MAIN) \ |
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"." EC_STR(EC_MASTER_VERSION_SUB) \ |
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" (" EC_MASTER_VERSION_EXTRA ")" \ |
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" - rev. " EC_STR(SVNREV) \ |
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", compiled by " EC_STR(USER) \ |
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" at " __DATE__ " " __TIME__ |
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/*****************************************************************************/ |
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static int ec_master_count = 1; |
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static int ec_eoe_devices = 0; |
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static struct list_head ec_masters; |
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/*****************************************************************************/ |
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/** \cond */ |
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module_param(ec_master_count, int, S_IRUGO); |
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module_param(ec_eoe_devices, int, S_IRUGO); |
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
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MODULE_DESCRIPTION("EtherCAT master driver module"); |
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MODULE_LICENSE("GPL"); |
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MODULE_VERSION(COMPILE_INFO); |
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MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize"); |
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MODULE_PARM_DESC(ec_eoe_devices, "number of EoE devices per master"); |
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/** \endcond */ |
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/*****************************************************************************/ |
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/** |
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Module initialization. |
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Initializes \a ec_master_count masters. |
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\return 0 on success, else < 0 |
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*/ |
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int __init ec_init_module(void) |
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{ |
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unsigned int i; |
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|
100 |
ec_master_t *master, *next; |
73
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diff
changeset
|
101 |
|
84
b4ae98855cea
printk durch Makros ersetzt.
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diff
changeset
|
102 |
EC_INFO("Master driver, %s\n", COMPILE_INFO); |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
103 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
104 |
if (ec_master_count < 1) { |
111
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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diff
changeset
|
105 |
EC_ERR("Error - Invalid ec_master_count: %i\n", ec_master_count); |
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
106 |
goto out_return; |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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64
diff
changeset
|
107 |
} |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
108 |
|
84
b4ae98855cea
printk durch Makros ersetzt.
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diff
changeset
|
109 |
EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count); |
b4ae98855cea
printk durch Makros ersetzt.
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79
diff
changeset
|
110 |
|
178
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|
111 |
INIT_LIST_HEAD(&ec_masters); |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
112 |
|
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
113 |
for (i = 0; i < ec_master_count; i++) { |
178
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|
114 |
if (!(master = |
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|
115 |
(ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) { |
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|
116 |
EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i); |
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|
117 |
goto out_free; |
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changeset
|
118 |
} |
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|
119 |
|
1619
0d4119024f55
MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines.
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changeset
|
120 |
if (ec_master_init(master, i, ec_eoe_devices)) |
178
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|
121 |
goto out_free; |
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changeset
|
122 |
|
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|
123 |
if (kobject_add(&master->kobj)) { |
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|
124 |
EC_ERR("Failed to add kobj.\n"); |
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|
125 |
kobject_put(&master->kobj); // free master |
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|
126 |
goto out_free; |
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changeset
|
127 |
} |
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|
128 |
|
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|
129 |
list_add_tail(&master->list, &ec_masters); |
73
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changeset
|
130 |
} |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
131 |
|
84
b4ae98855cea
printk durch Makros ersetzt.
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diff
changeset
|
132 |
EC_INFO("Master driver initialized.\n"); |
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
133 |
return 0; |
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
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parents:
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diff
changeset
|
134 |
|
178
b84f69db8566
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changeset
|
135 |
out_free: |
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diff
changeset
|
136 |
list_for_each_entry_safe(master, next, &ec_masters, list) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
137 |
list_del(&master->list); |
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changeset
|
138 |
kobject_del(&master->kobj); |
b84f69db8566
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diff
changeset
|
139 |
kobject_put(&master->kobj); |
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MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
140 |
} |
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
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parents:
111
diff
changeset
|
141 |
out_return: |
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
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parents:
111
diff
changeset
|
142 |
return -1; |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
} |
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
34
diff
changeset
|
145 |
/*****************************************************************************/ |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
|
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
148 |
Module cleanup. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
149 |
Clears all master instances. |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
*/ |
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
152 |
void __exit ec_cleanup_module(void) |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
{ |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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161
diff
changeset
|
154 |
ec_master_t *master, *next; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
155 |
|
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
79
diff
changeset
|
156 |
EC_INFO("Cleaning up master driver...\n"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
157 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
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161
diff
changeset
|
158 |
list_for_each_entry_safe(master, next, &ec_masters, list) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
159 |
list_del(&master->list); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
160 |
kobject_del(&master->kobj); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
161 |
kobject_put(&master->kobj); // free master |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
162 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
163 |
|
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
79
diff
changeset
|
164 |
EC_INFO("Master driver cleaned up.\n"); |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
} |
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
167 |
/*****************************************************************************/ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
168 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
169 |
/** |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
170 |
Gets a handle to a certain master. |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
171 |
\returns pointer to master |
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MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
172 |
*/ |
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MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
173 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
174 |
ec_master_t *ec_find_master(unsigned int master_index /**< master index */) |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
175 |
{ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff
changeset
|
176 |
ec_master_t *master; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
177 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
178 |
list_for_each_entry(master, &ec_masters, list) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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161
diff
changeset
|
179 |
if (master->index == master_index) return master; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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161
diff
changeset
|
180 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
181 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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161
diff
changeset
|
182 |
EC_ERR("Master %i does not exist!\n", master_index); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
183 |
return NULL; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
161
diff
changeset
|
184 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
185 |
|
1617
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
186 |
/*****************************************************************************/ |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
187 |
|
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
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diff
changeset
|
188 |
/** |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
189 |
Outputs frame contents for debugging purposes. |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
190 |
*/ |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
191 |
|
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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195
diff
changeset
|
192 |
void ec_print_data(const uint8_t *data, /**< pointer to data */ |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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195
diff
changeset
|
193 |
size_t size /**< number of bytes to output */ |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
194 |
) |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
195 |
{ |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
196 |
unsigned int i; |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
197 |
|
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
198 |
EC_DBG(""); |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
199 |
for (i = 0; i < size; i++) { |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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diff
changeset
|
200 |
printk("%02X ", data[i]); |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
201 |
if ((i + 1) % 16 == 0) { |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
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diff
changeset
|
202 |
printk("\n"); |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
203 |
EC_DBG(""); |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
204 |
} |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
205 |
} |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
206 |
printk("\n"); |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
207 |
} |
9f83a343ae75
MERGE trunk -r354:355 -> branches/stable-1.0 (version numbers)
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parents:
195
diff
changeset
|
208 |
|
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209 |
/*****************************************************************************/ |
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210 |
|
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211 |
/** |
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212 |
Outputs frame contents and differences for debugging purposes. |
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213 |
*/ |
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214 |
|
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215 |
void ec_print_data_diff(const uint8_t *d1, /**< first data */ |
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216 |
const uint8_t *d2, /**< second data */ |
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217 |
size_t size /** number of bytes to output */ |
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|
218 |
) |
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219 |
{ |
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220 |
unsigned int i; |
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221 |
|
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222 |
EC_DBG(""); |
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223 |
for (i = 0; i < size; i++) { |
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224 |
if (d1[i] == d2[i]) printk(".. "); |
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225 |
else printk("%02X ", d2[i]); |
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226 |
if ((i + 1) % 16 == 0) { |
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227 |
printk("\n"); |
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228 |
EC_DBG(""); |
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229 |
} |
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230 |
} |
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231 |
printk("\n"); |
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232 |
} |
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233 |
|
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234 |
/*****************************************************************************/ |
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235 |
|
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236 |
/** |
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237 |
Prints slave states in clear text. |
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238 |
*/ |
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239 |
|
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240 |
void ec_print_states(const uint8_t states /**< slave states */) |
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241 |
{ |
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242 |
unsigned int first = 1; |
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243 |
|
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244 |
if (!states) { |
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245 |
printk("(unknown)"); |
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246 |
return; |
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247 |
} |
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248 |
|
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249 |
if (states & EC_SLAVE_STATE_INIT) { |
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250 |
printk("INIT"); |
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251 |
first = 0; |
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252 |
} |
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253 |
if (states & EC_SLAVE_STATE_PREOP) { |
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254 |
if (!first) printk(", "); |
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255 |
printk("PREOP"); |
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256 |
first = 0; |
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257 |
} |
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258 |
if (states & EC_SLAVE_STATE_SAVEOP) { |
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259 |
if (!first) printk(", "); |
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260 |
printk("SAVEOP"); |
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261 |
first = 0; |
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262 |
} |
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263 |
if (states & EC_SLAVE_STATE_OP) { |
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264 |
if (!first) printk(", "); |
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265 |
printk("OP"); |
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266 |
} |
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267 |
} |
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|
268 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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|
269 |
/****************************************************************************** |
195
674071846ee3
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|
270 |
* Device interface |
54
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|
271 |
*****************************************************************************/ |
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
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diff
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|
272 |
|
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Master-Reservierung und Use-Count f?r NIC-Treiber.
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|
273 |
/** |
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274 |
Connects an EtherCAT device to a certain master. |
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275 |
The master will use the device for sending and receiving frames. It is |
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276 |
required that no other instance (for example the kernel IP stack) uses |
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277 |
the device. |
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|
278 |
\return 0 on success, else < 0 |
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279 |
\ingroup DeviceInterface |
195
674071846ee3
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|
280 |
*/ |
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|
281 |
|
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|
282 |
ec_device_t *ecdev_register(unsigned int master_index, /**< master index */ |
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|
283 |
struct net_device *net_dev, /**< net_device of |
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diff
changeset
|
284 |
the device */ |
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|
285 |
ec_isr_t isr, /**< interrupt service routine */ |
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diff
changeset
|
286 |
struct module *module /**< pointer to the module */ |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
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|
287 |
) |
91
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|
288 |
{ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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|
289 |
ec_master_t *master; |
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|
290 |
|
178
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|
291 |
if (!(master = ec_find_master(master_index))) return NULL; |
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|
292 |
|
98
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changeset
|
293 |
if (master->device) { |
84
b4ae98855cea
printk durch Makros ersetzt.
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|
294 |
EC_ERR("Master %i already has a device!\n", master_index); |
191 | 295 |
goto out_return; |
73
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|
296 |
} |
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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changeset
|
297 |
|
178
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|
298 |
if (!(master->device = |
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|
299 |
(ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) { |
161
ddb7266d1c56
Bugfix: Discovered memory leak.
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diff
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|
300 |
EC_ERR("Failed to allocate device!\n"); |
191 | 301 |
goto out_return; |
98
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|
302 |
} |
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diff
changeset
|
303 |
|
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
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111
diff
changeset
|
304 |
if (ec_device_init(master->device, master, net_dev, isr, module)) { |
191 | 305 |
EC_ERR("Failed to init device!\n"); |
306 |
goto out_free; |
|
127
e67c80a76de4
Code aufger?umt und kleines Speicherleck entdeckt.
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diff
changeset
|
307 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
308 |
|
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diff
changeset
|
309 |
return master->device; |
191 | 310 |
|
311 |
out_free: |
|
312 |
kfree(master->device); |
|
313 |
master->device = NULL; |
|
314 |
out_return: |
|
315 |
return NULL; |
|
91
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changeset
|
316 |
} |
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changeset
|
317 |
|
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changeset
|
318 |
/*****************************************************************************/ |
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changeset
|
319 |
|
0120d6214948
Code-Dokumentation angepasst.
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diff
changeset
|
320 |
/** |
1618
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changeset
|
321 |
Disconnect an EtherCAT device from the master. |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
322 |
The device is disconnected from the master and all device ressources |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
323 |
are freed. |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
324 |
\attention Before calling this function, the ecdev_stop() function has |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
325 |
to be called, to be sure that the master does not use the device any more. |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
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parents:
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diff
changeset
|
326 |
\ingroup DeviceInterface |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
327 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
328 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
329 |
void ecdev_unregister(unsigned int master_index, /**< master index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
330 |
ec_device_t *device /**< EtherCAT device */ |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
331 |
) |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
332 |
{ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
333 |
ec_master_t *master; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
334 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
335 |
if (!(master = ec_find_master(master_index))) return; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
336 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
337 |
if (!master->device || master->device != device) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
79
diff
changeset
|
338 |
EC_WARN("Unable to unregister device!\n"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
339 |
return; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
340 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
341 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
342 |
ec_device_clear(master->device); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
343 |
kfree(master->device); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
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91
diff
changeset
|
344 |
master->device = NULL; |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
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52
diff
changeset
|
345 |
} |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
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52
diff
changeset
|
346 |
|
191 | 347 |
/*****************************************************************************/ |
348 |
||
349 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
350 |
Starts the master associated with the device. |
1618
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
351 |
This function has to be called by the network device driver to tell the |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
352 |
master that the device is ready to send and receive data. The master |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
353 |
will enter the free-run mode then. |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
354 |
\ingroup DeviceInterface |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
355 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
356 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
357 |
int ecdev_start(unsigned int master_index /**< master index */) |
191 | 358 |
{ |
359 |
ec_master_t *master; |
|
360 |
if (!(master = ec_find_master(master_index))) return -1; |
|
361 |
||
362 |
if (ec_device_open(master->device)) { |
|
363 |
EC_ERR("Failed to open device!\n"); |
|
364 |
return -1; |
|
365 |
} |
|
366 |
||
367 |
ec_master_freerun_start(master); |
|
368 |
return 0; |
|
369 |
} |
|
370 |
||
371 |
/*****************************************************************************/ |
|
372 |
||
373 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
374 |
Stops the master associated with the device. |
1618
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
375 |
Tells the master to stop using the device for frame IO. Has to be called |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
376 |
before unregistering the device. |
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
377 |
\ingroup DeviceInterface |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
378 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
379 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
380 |
void ecdev_stop(unsigned int master_index /**< master index */) |
191 | 381 |
{ |
382 |
ec_master_t *master; |
|
383 |
if (!(master = ec_find_master(master_index))) return; |
|
384 |
||
385 |
ec_master_freerun_stop(master); |
|
386 |
||
387 |
if (ec_device_close(master->device)) |
|
388 |
EC_WARN("Failed to close device!\n"); |
|
389 |
} |
|
390 |
||
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
391 |
/****************************************************************************** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
392 |
* Realtime interface |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
393 |
*****************************************************************************/ |
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
27
diff
changeset
|
394 |
|
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
27
diff
changeset
|
395 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
396 |
Reserves an EtherCAT master for realtime operation. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
397 |
\return pointer to reserved master, or NULL on error |
1618
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
398 |
\ingroup RealtimeInterface |
91
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
88
diff
changeset
|
399 |
*/ |
0120d6214948
Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents:
88
diff
changeset
|
400 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
401 |
ec_master_t *ecrt_request_master(unsigned int master_index |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
402 |
/**< master index */ |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
403 |
) |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
404 |
{ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
405 |
ec_master_t *master; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
406 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
407 |
EC_INFO("Requesting master %i...\n", master_index); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
408 |
|
191 | 409 |
if (!(master = ec_find_master(master_index))) goto out_return; |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
410 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
411 |
if (master->reserved) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
412 |
EC_ERR("Master %i is already in use!\n", master_index); |
191 | 413 |
goto out_return; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
414 |
} |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
415 |
master->reserved = 1; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
416 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
417 |
if (!master->device) { |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
418 |
EC_ERR("Master %i has no assigned device!\n", master_index); |
191 | 419 |
goto out_release; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
420 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
421 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
422 |
if (!try_module_get(master->device->module)) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
79
diff
changeset
|
423 |
EC_ERR("Failed to reserve device module!\n"); |
191 | 424 |
goto out_release; |
425 |
} |
|
426 |
||
427 |
ec_master_freerun_stop(master); |
|
428 |
ec_master_reset(master); |
|
429 |
master->mode = EC_MASTER_MODE_RUNNING; |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
430 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
431 |
if (!master->device->link_state) EC_WARN("Link is DOWN.\n"); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
432 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
433 |
if (ec_master_bus_scan(master)) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
79
diff
changeset
|
434 |
EC_ERR("Bus scan failed!\n"); |
191 | 435 |
goto out_module_put; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
436 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
437 |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
438 |
EC_INFO("Master %i is ready.\n", master_index); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
439 |
return master; |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
440 |
|
191 | 441 |
out_module_put: |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
442 |
module_put(master->device->module); |
85
eb24637883ef
Master wird nach nicht erfolgreichem Request resettet.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
443 |
ec_master_reset(master); |
1619
0d4119024f55
MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines.
Florian Pose <fp@igh-essen.com>
parents:
1618
diff
changeset
|
444 |
ec_master_freerun_start(master); |
191 | 445 |
out_release: |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
446 |
master->reserved = 0; |
191 | 447 |
out_return: |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
448 |
EC_ERR("Failed requesting master %i.\n", master_index); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
64
diff
changeset
|
449 |
return NULL; |
27
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
} |
d75ef6b46e33
EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
34
diff
changeset
|
452 |
/*****************************************************************************/ |
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
27
diff
changeset
|
453 |
|
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
27
diff
changeset
|
454 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
455 |
Releases a reserved EtherCAT master. |
1618
5cff10efb927
MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2)
Florian Pose <fp@igh-essen.com>
parents:
1617
diff
changeset
|
456 |
\ingroup RealtimeInterface |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
457 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
458 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
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void ecrt_release_master(ec_master_t *master /**< EtherCAT master */) |
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460 |
{ |
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EC_INFO("Releasing master %i...\n", master->index); |
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462 |
|
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if (!master->reserved) { |
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EC_ERR("Master %i was never requested!\n", master->index); |
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465 |
return; |
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466 |
} |
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467 |
|
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468 |
ec_master_reset(master); |
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469 |
|
191 | 470 |
master->mode = EC_MASTER_MODE_IDLE; |
471 |
ec_master_freerun_start(master); |
|
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472 |
|
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module_put(master->device->module); |
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master->reserved = 0; |
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475 |
|
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476 |
EC_INFO("Released master %i.\n", master->index); |
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477 |
return; |
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478 |
} |
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479 |
|
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likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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480 |
/*****************************************************************************/ |
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481 |
|
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482 |
/** \cond */ |
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483 |
|
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module_init(ec_init_module); |
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module_exit(ec_cleanup_module); |
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486 |
|
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EXPORT_SYMBOL(ecdev_register); |
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EXPORT_SYMBOL(ecdev_unregister); |
191 | 489 |
EXPORT_SYMBOL(ecdev_start); |
490 |
EXPORT_SYMBOL(ecdev_stop); |
|
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EXPORT_SYMBOL(ecrt_request_master); |
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EXPORT_SYMBOL(ecrt_release_master); |
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493 |
|
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494 |
/** \endcond */ |
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495 |
|
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496 |
/*****************************************************************************/ |