author | Florian Pose <fp@igh-essen.com> |
Wed, 07 Mar 2007 11:11:17 +0000 | |
changeset 624 | 11332ad89f47 |
parent 612 | aede068f9a74 |
child 637 | d5d04c868e0e |
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 structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef _EC_MASTER_H_ |
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#define _EC_MASTER_H_ |
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#include <linux/list.h> |
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#include <linux/sysfs.h> |
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#include <linux/timer.h> |
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#include <linux/wait.h> |
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#include <asm/atomic.h> |
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#include <asm/semaphore.h> |
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#include "device.h" |
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#include "device_id.h" |
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#include "domain.h" |
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#include "fsm_master.h" |
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/*****************************************************************************/ |
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/** |
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EtherCAT master mode. |
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typedef enum |
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{ |
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EC_MASTER_MODE_ORPHANED, |
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EC_MASTER_MODE_IDLE, |
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EC_MASTER_MODE_OPERATION |
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} |
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ec_master_mode_t; |
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/** |
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Cyclic statistics. |
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*/ |
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typedef struct |
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{ |
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unsigned int timeouts; /**< datagram timeouts */ |
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unsigned int corrupted; /**< corrupted frames */ |
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unsigned int skipped; /**< skipped datagrams (the ones that were |
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requeued when not yet received) */ |
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unsigned int unmatched; /**< unmatched datagrams (received, but not |
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queued any longer) */ |
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unsigned long output_jiffies; /**< time of last output */ |
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} |
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ec_stats_t; |
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/*****************************************************************************/ |
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/** |
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EtherCAT master. |
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Manages slaves, domains and IO. |
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*/ |
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struct ec_master |
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{ |
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struct list_head list; /**< list item for module's master list */ |
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atomic_t available; /**< zero, if the master is reserved for RT */ |
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unsigned int index; /**< master index */ |
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struct kobject kobj; /**< kobject */ |
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ec_device_t main_device; /**< EtherCAT device */ |
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const ec_device_id_t *main_device_id; /**< ID of main device */ |
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ec_device_t backup_device; /**< EtherCAT backup device */ |
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const ec_device_id_t *backup_device_id; /**< ID of backup device */ |
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struct semaphore device_sem; /**< device semaphore */ |
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ec_fsm_master_t fsm; /**< master state machine */ |
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ec_datagram_t fsm_datagram; /**< datagram used for state machines */ |
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ec_master_mode_t mode; /**< master mode */ |
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struct list_head slaves; /**< list of slaves on the bus */ |
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unsigned int slave_count; /**< number of slaves on the bus */ |
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struct list_head datagram_queue; /**< datagram queue */ |
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uint8_t datagram_index; /**< current datagram index */ |
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struct list_head domains; /**< list of domains */ |
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int debug_level; /**< master debug level */ |
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ec_stats_t stats; /**< cyclic statistics */ |
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unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs |
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were registered and that are offline |
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(used for bus status) */ |
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int thread_id; /**< master thread PID */ |
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struct completion thread_exit; /**< thread completion object */ |
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uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */ |
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unsigned int idle_cycle_time_pos; /**< time ring buffer position */ |
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struct timer_list eoe_timer; /**< EoE timer object */ |
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uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */ |
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unsigned int eoe_cycle_time_pos; /**< time ring buffer position */ |
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unsigned int eoe_running; /**< non-zero, if EoE processing is active. */ |
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unsigned int eoe_checked; /**< non-zero, if EoE processing is not |
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Fixed bug with ec_master_eoe_start() does new coupling all the time.
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137 |
necessary. */ |
251
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EoE in Free-Run mode; Finished slave configuration state machine.
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138 |
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */ |
334
2be97e069602
Master information, timing.
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|
139 |
|
306
45886de3db87
Renamed FREERUN mode to IDLE mode.
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140 |
spinlock_t internal_lock; /**< spinlock used in idle mode */ |
204
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Locking callback interface.
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141 |
int (*request_cb)(void *); /**< lock request callback */ |
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Locking callback interface.
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142 |
void (*release_cb)(void *); /**< lock release callback */ |
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Locking callback interface.
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143 |
void *cb_data; /**< data parameter of locking callbacks */ |
268
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EEPROM write enable SysFS entry.
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144 |
|
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
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145 |
struct list_head eeprom_requests; /**< EEPROM write requests */ |
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
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146 |
struct semaphore eeprom_sem; /**< semaphore protecting the list of |
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Introduced EEPROM write requests: EEPROM write operations from user
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147 |
EEPROM write requests */ |
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Introduced EEPROM write requests: EEPROM write operations from user
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148 |
wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM |
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Introduced EEPROM write requests: EEPROM write operations from user
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149 |
write requests from user space */ |
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Introduced EEPROM write requests: EEPROM write operations from user
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150 |
|
441
ffa13db95e10
SDO uploading via Sysfs without master FSM calling wake_up().
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151 |
ec_sdo_request_t *sdo_request; /**< pointer to the current SDO request */ |
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SDO uploading via Sysfs without master FSM calling wake_up().
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152 |
unsigned int sdo_seq_user; /**< sequence number for user space */ |
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SDO uploading via Sysfs without master FSM calling wake_up().
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153 |
unsigned int sdo_seq_master; /**< sequence number for master */ |
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SDO uploading via Sysfs without master FSM calling wake_up().
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154 |
struct semaphore sdo_sem; /**< SDO semaphore */ |
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SDO uploading via Sysfs without master FSM calling wake_up().
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155 |
struct timer_list sdo_timer; /**< timer for polling sdo processing */ |
ffa13db95e10
SDO uploading via Sysfs without master FSM calling wake_up().
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|
156 |
struct completion sdo_complete; /**< SDO request completion object */ |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
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157 |
}; |
0 | 158 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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|
159 |
/*****************************************************************************/ |
0 | 160 |
|
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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|
161 |
// master creation/deletion |
576
158c5a3d0a2a
New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
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162 |
int ec_master_init(ec_master_t *, struct kobject *, unsigned int, |
573
cdee4ea90ce9
Introduced device IDs; removed comment lines from 8139too; removed
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|
163 |
const ec_device_id_t *, const ec_device_id_t *, unsigned int); |
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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164 |
void ec_master_destroy(ec_master_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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|
165 |
|
446 | 166 |
// mode transitions |
167 |
int ec_master_enter_idle_mode(ec_master_t *); |
|
168 |
void ec_master_leave_idle_mode(ec_master_t *); |
|
169 |
int ec_master_enter_operation_mode(ec_master_t *); |
|
170 |
void ec_master_leave_operation_mode(ec_master_t *); |
|
191 | 171 |
|
251
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EoE in Free-Run mode; Finished slave configuration state machine.
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|
172 |
// EoE |
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173 |
void ec_master_eoe_start(ec_master_t *); |
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EoE in Free-Run mode; Finished slave configuration state machine.
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174 |
void ec_master_eoe_stop(ec_master_t *); |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
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175 |
|
446 | 176 |
// datagram IO |
331
17f58fe99511
Renamed ec_master_receive() to ec_master_receive_datagrams().
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|
177 |
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t); |
293
14aeb79aa992
Renamed command structure to datagram.
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|
178 |
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *); |
0 | 179 |
|
195
674071846ee3
Translated all comments and documentation to english language.
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|
180 |
// misc. |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
181 |
void ec_master_output_stats(ec_master_t *); |
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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182 |
void ec_master_destroy_slaves(ec_master_t *); |
446 | 183 |
void ec_master_calc_addressing(ec_master_t *); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
184 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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diff
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|
185 |
/*****************************************************************************/ |
0 | 186 |
|
187 |
#endif |