etherlabmaster: master/master.c@1ac0fc378b95 (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	3	* m a s t e r . c
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Methoden für einen EtherCAT-Master.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	9	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	11	#include <linux/module.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#include <linux/kernel.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <linux/string.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <linux/slab.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include <linux/delay.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	16
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	17	#include "../include/ecrt.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	18	#include "globals.h"
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	19	#include "master.h"
55 059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	20	#include "slave.h"
059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	21	#include "types.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	22	#include "device.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	23	#include "command.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	24	#include "ethernet.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	25
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	26	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	27
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	28	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	29	Konstruktor des EtherCAT-Masters.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	30	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	31
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	32	void ec_master_init(ec_master_t master /< EtherCAT-Master /)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	33	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	34	master->slaves = NULL;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	35	master->device = NULL;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	36
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	37	INIT_LIST_HEAD(&master->command_queue);
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	38	INIT_LIST_HEAD(&master->domains);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	39	INIT_LIST_HEAD(&master->eoe_slaves);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	40
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	41	ec_command_init(&master->simple_command);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	42	ec_command_init(&master->watch_command);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	43
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	44	ec_master_reset(master);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	45	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	47	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	48
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	49	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50	Destruktor eines EtherCAT-Masters.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	51
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52	Entfernt alle Kommandos aus der Liste, löscht den Zeiger
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	53	auf das Slave-Array und gibt die Prozessdaten frei.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	54	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	55
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	56	void ec_master_clear(ec_master_t master /< EtherCAT-Master /)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	57	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	58	ec_master_reset(master);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	59
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	60	if (master->device) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	61	ec_device_clear(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	62	kfree(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	63	}
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	64
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	65	ec_command_clear(&master->simple_command);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	66	ec_command_clear(&master->watch_command);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	67	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	68
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	69	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	70
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	71	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	72	Setzt den Master zurück in den Ausgangszustand.
56 36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	73
36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	74	Bei einem "release" sollte immer diese Funktion aufgerufen werden,
36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	75	da sonst Slave-Liste, Domains, etc. weiter existieren.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	76	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	77
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	78	void ec_master_reset(ec_master_t *master
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	79	/*< Zeiger auf den zurückzusetzenden Master /
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	80	)
56 36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	81	{
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	82	unsigned int i;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	83	ec_command_t command, next_c;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	84	ec_domain_t domain, next_d;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	85	ec_eoe_t eoe, next_eoe;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	86
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	87	// Alle Slaves entfernen
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	88	if (master->slaves) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	89	for (i = 0; i < master->slave_count; i++)
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	90	ec_slave_clear(master->slaves + i);
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	91	kfree(master->slaves);
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	92	master->slaves = NULL;
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	93	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	94	master->slave_count = 0;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	95
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	96	// Kommando-Warteschlange leeren
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	97	list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	98	command->state = EC_CMD_ERROR;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	99	list_del_init(&command->queue);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	100	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	101
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	102	// Domain-Liste leeren
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	103	list_for_each_entry_safe(domain, next_d, &master->domains, list) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	104	list_del(&domain->list);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	105	ec_domain_clear(domain);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	106	kfree(domain);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	107	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	108
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	109	// EOE-Liste leeren
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	110	list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	111	list_del(&eoe->list);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	112	ec_eoe_clear(eoe);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	113	kfree(eoe);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	114	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	115
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	116	master->command_index = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	117	master->debug_level = 0;
155 ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	118	master->timeout = 500; // 500us
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	119
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	120	master->slaves_responding = 0;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	121	master->slave_states = EC_SLAVE_STATE_UNKNOWN;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	122
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	123	master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	124	master->stats.delayed = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	125	master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	126	master->stats.unmatched = 0;
173 10e182a8bc4e Fixed bug concerning spuriously shown EoE-Errors. Florian Pose <fp@igh-essen.com> parents: 166 diff changeset	127	master->stats.eoe_errors = 0;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	128	master->stats.t_last = 0;
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	129	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	130
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	131	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	132
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	133	/**
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	134	Stellt ein Kommando in die Warteschlange.
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	135	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	136
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	137	void ec_master_queue_command(ec_master_t master, /< EtherCAT-Master /
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	138	ec_command_t command /< Kommando /
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	139	)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	140	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	141	ec_command_t *queued_command;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	142
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	143	// Ist das Kommando schon in der Warteschlange?
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	144	list_for_each_entry(queued_command, &master->command_queue, queue) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	145	if (queued_command == command) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	146	command->state = EC_CMD_QUEUED;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	147	if (unlikely(master->debug_level))
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	148	EC_WARN("command already queued.\n");
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	149	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	150	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	151	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	152
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	153	list_add_tail(&command->queue, &master->command_queue);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	154	command->state = EC_CMD_QUEUED;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	155	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	156
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	157	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	158
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	159	/**
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	160	Sendet die Kommandos in der Warteschlange.
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	161
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	162	\return 0 bei Erfolg, sonst < 0
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	163	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	164
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	165	void ec_master_send_commands(ec_master_t master /< EtherCAT-Master /)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	166	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	167	ec_command_t *command;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	168	size_t command_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	169	uint8_t frame_data, cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	170	void *follows_word;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	171	cycles_t start = 0, end;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	172	unsigned int frame_count, more_commands_waiting;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	173
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	174	frame_count = 0;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	175
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	176	if (unlikely(master->debug_level > 0)) {
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	177	EC_DBG("ec_master_send_commands\n");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	178	start = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	179	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	180
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	181	do {
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	182	// Zeiger auf Socket-Buffer holen
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	183	frame_data = ec_device_tx_data(master->device);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	184	cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	185	follows_word = NULL;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	186	more_commands_waiting = 0;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	187
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	188	// Aktuellen Frame mit Kommandos füllen
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	189	list_for_each_entry(command, &master->command_queue, queue) {
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	190	if (command->state != EC_CMD_QUEUED) continue;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	191
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	192	// Passt das aktuelle Kommando noch in den aktuellen Rahmen?
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	193	command_size = EC_COMMAND_HEADER_SIZE + command->data_size
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	194	+ EC_COMMAND_FOOTER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	195	if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	196	more_commands_waiting = 1;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	197	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	198	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	199
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	200	command->state = EC_CMD_SENT;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	201	command->index = master->command_index++;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	202
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	203	if (unlikely(master->debug_level > 0))
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	204	EC_DBG("adding command 0x%02X\n", command->index);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	205
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	206	// Command-Following-Flag im letzten Kommando setzen
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	207	if (follows_word)
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	208	EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) \| 0x8000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	209
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	210	// EtherCAT command header
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	211	EC_WRITE_U8 (cur_data, command->type);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	212	EC_WRITE_U8 (cur_data + 1, command->index);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	213	EC_WRITE_U32(cur_data + 2, command->address.logical);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	214	EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	215	EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	216	follows_word = cur_data + 6;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	217	cur_data += EC_COMMAND_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	218
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	219	// EtherCAT command data
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	220	memcpy(cur_data, command->data, command->data_size);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	221	cur_data += command->data_size;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	222
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	223	// EtherCAT command footer
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	224	EC_WRITE_U16(cur_data, 0x0000); // Working counter
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	225	cur_data += EC_COMMAND_FOOTER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	226	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	227
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	228	if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	229	if (unlikely(master->debug_level > 0))
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	230	EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	231	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	232	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	233
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	234	// EtherCAT frame header
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	235	EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	236	- EC_FRAME_HEADER_SIZE) & 0x7FF) \| 0x1000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	237
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	238	// Rahmen auffüllen
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	239	while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	240	EC_WRITE_U8(cur_data++, 0x00);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	241
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	242	if (unlikely(master->debug_level > 0))
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	243	EC_DBG("frame size: %i\n", cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	244
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	245	// Send frame
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	246	ec_device_send(master->device, cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	247	frame_count++;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	248	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	249	while (more_commands_waiting);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	250
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	251	if (unlikely(master->debug_level > 0)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	252	end = get_cycles();
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	253	EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	254	frame_count, (u32) (end - start) * 1000 / cpu_khz);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	255	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	256	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	257
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	258	/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	259
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	260	/**
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	261	Processes a received frame.
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	262
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	263	This function is called by the network driver for every received frame.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	264
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	265	\return 0 bei Erfolg, sonst < 0
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	266	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	267
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	268	void ec_master_receive(ec_master_t master, /< EtherCAT-Master /
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	269	const uint8_t frame_data, /< Empfangene Daten /
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	270	size_t size /*< Anzahl empfangene Datenbytes /
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	271	)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	272	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	273	size_t frame_size, data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	274	uint8_t command_type, command_index;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	275	unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	276	const uint8_t *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	277	ec_command_t *command;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	278
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	279	if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	280	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	281	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	282	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	283	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	284
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	285	cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	286
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	287	// Länge des gesamten Frames prüfen
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	288	frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	289	cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	290
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	291	if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	292	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	293	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	294	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	295	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	296
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	297	cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	298	while (cmd_follows) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	299	// Kommando-Header auswerten
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	300	command_type = EC_READ_U8 (cur_data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	301	command_index = EC_READ_U8 (cur_data + 1);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	302	data_size = EC_READ_U16(cur_data + 6) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	303	cmd_follows = EC_READ_U16(cur_data + 6) & 0x8000;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	304	cur_data += EC_COMMAND_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	305
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	306	if (unlikely(cur_data - frame_data
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	307	+ data_size + EC_COMMAND_FOOTER_SIZE > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	308	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	309	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	310	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	311	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	312
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	313	// Suche passendes Kommando in der Liste
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	314	matched = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	315	list_for_each_entry(command, &master->command_queue, queue) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	316	if (command->state == EC_CMD_SENT
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	317	&& command->type == command_type
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	318	&& command->index == command_index
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	319	&& command->data_size == data_size) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	320	matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	321	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	322	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	323	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	324
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	325	// Kein passendes Kommando in der Liste gefunden
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	326	if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	327	master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	328	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	329	cur_data += data_size + EC_COMMAND_FOOTER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	330	continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	331	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	332
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	333	// Empfangene Daten in Kommando-Datenspeicher kopieren
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	334	memcpy(command->data, cur_data, data_size);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	335	cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	336
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	337	// Working-Counter setzen
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	338	command->working_counter = EC_READ_U16(cur_data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	339	cur_data += EC_COMMAND_FOOTER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	340
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	341	// Kommando aus der Warteschlange entfernen
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	342	command->state = EC_CMD_RECEIVED;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	343	list_del_init(&command->queue);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	344	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	345	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	346
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	347	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	348
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	349	/**
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	350	Sendet ein einzelnes Kommando und wartet auf den Empfang.
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	351
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	352	Wenn der Slave nicht antwortet, wird das Kommando
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	353	nochmals gesendet.
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	354
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	355	\return 0 bei Erfolg, sonst < 0
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	356	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	357
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	358	int ec_master_simple_io(ec_master_t master, /< EtherCAT-Master /
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	359	ec_command_t command /< Kommando /
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	360	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	361	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	362	unsigned int response_tries_left;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	363
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	364	response_tries_left = 10;
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	365
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	366	while (1)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	367	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	368	ec_master_queue_command(master, command);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	369	ecrt_master_sync_io(master);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	370
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	371	if (command->state == EC_CMD_RECEIVED) {
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	372	if (likely(command->working_counter))
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	373	return 0;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	374	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	375	else if (command->state == EC_CMD_TIMEOUT) {
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	376	EC_ERR("Simple-IO TIMEOUT!\n");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	377	return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	378	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	379	else if (command->state == EC_CMD_ERROR) {
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	380	EC_ERR("Simple-IO command error!\n");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	381	return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	382	}
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	383
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	384	// Keine direkte Antwort. Dem Slave Zeit lassen...
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	385	udelay(100);
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	386
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	387	if (unlikely(--response_tries_left)) {
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	388	EC_ERR("No response in simple-IO!\n");
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	389	return -1;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	390	}
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	391	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	392	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	393
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	394	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	395
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	396	/**
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	397	Durchsucht den EtherCAT-Bus nach Slaves.
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	398
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	399	Erstellt ein Array mit allen Slave-Informationen die für den
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	400	weiteren Betrieb notwendig sind.
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	401
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	402	\return 0 bei Erfolg, sonst < 0
17 1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 15 diff changeset	403	*/
1b5aea4d5147 Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt. Florian Pose <fp@igh-essen.com> parents: 15 diff changeset	404
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	405	int ec_master_bus_scan(ec_master_t master /< EtherCAT-Master /)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	406	{
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	407	ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	408	ec_slave_ident_t *ident;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	409	unsigned int i;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	410	ec_command_t *command;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	411	ec_eoe_t *eoe;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	412
90 044e97bce4bd Rahmen jetzt zustandslos. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	413	if (master->slaves \|\| master->slave_count) {
044e97bce4bd Rahmen jetzt zustandslos. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	414	EC_ERR("Slave scan already done!\n");
044e97bce4bd Rahmen jetzt zustandslos. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	415	return -1;
044e97bce4bd Rahmen jetzt zustandslos. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	416	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	417
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	418	command = &master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	419
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	420	// Determine number of slaves on bus
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	421	if (ec_command_brd(command, 0x0000, 4)) return -1;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	422	if (unlikely(ec_master_simple_io(master, command))) return -1;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	423	master->slave_count = command->working_counter;
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	424	EC_INFO("Found %i slaves on bus.\n", master->slave_count);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	425
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	426	if (!master->slave_count) return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	427
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	428	if (!(master->slaves = (ec_slave_t *)
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	429	kmalloc(master->slave_count * sizeof(ec_slave_t), GFP_KERNEL))) {
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	430	EC_ERR("Failed to allocate slaves!\n");
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	431	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	432	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	433
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	434	// Init slaves
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	435	for (i = 0; i < master->slave_count; i++) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	436	slave = master->slaves + i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	437	ec_slave_init(slave, master);
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	438	slave->ring_position = i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	439	slave->station_address = i + 1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	440	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	441
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	442	// For every slave on the bus
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	443	for (i = 0; i < master->slave_count; i++) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	444	slave = master->slaves + i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	445
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	446	// Write station address
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	447	if (ec_command_apwr(command, slave->ring_position,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	448	0x0010, sizeof(uint16_t))) return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	449	EC_WRITE_U16(command->data, slave->station_address);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	450	if (unlikely(ec_master_simple_io(master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	451	EC_ERR("Writing station address failed on slave %i!\n", i);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	452	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	453	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	454
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	455	// Fetch all slave information
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	456	if (ec_slave_fetch(slave)) return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	457
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	458	// Search for identification in "database"
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	459	ident = slave_idents;
129 67b6e534db4b Bugfix: Absturz bei unbekannter Klemme. Florian Pose <fp@igh-essen.com> parents: 120 diff changeset	460	while (ident->type) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	461	if (unlikely(ident->vendor_id == slave->sii_vendor_id
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	462	&& ident->product_code == slave->sii_product_code)) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	463	slave->type = ident->type;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	464	break;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	465	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	466	ident++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	467	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	468
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	469	if (!slave->type)
b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	470	EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	471	" position %i.\n", slave->sii_vendor_id,
b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	472	slave->sii_product_code, i);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	473
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	474	// Does the slave support EoE?
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	475	if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	476	if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 155 diff changeset	477	EC_ERR("Failed to allocate EoE-Object.\n");
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	478	return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	479	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	480
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	481	ec_eoe_init(eoe, slave);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	482	list_add_tail(&eoe->list, &master->eoe_slaves);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	483	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	484	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	485
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	486	return 0;
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	487	}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	488
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	489	/*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	490
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	491	/**
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	492	Statistik-Ausgaben während des zyklischen Betriebs.
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	493
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	494	Diese Funktion sorgt dafür, dass Statistiken während des zyklischen
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	495	Betriebs bei Bedarf, aber nicht zu oft ausgegeben werden.
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	496
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	497	Die Ausgabe erfolgt gesammelt höchstens einmal pro Sekunde.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	498	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	499
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	500	void ec_master_output_stats(ec_master_t master /< EtherCAT-Master /)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	501	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	502	cycles_t t_now = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	503
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	504	if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	505	if (master->stats.timeouts) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	506	EC_WARN("%i commands TIMED OUT!\n", master->stats.timeouts);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	507	master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	508	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	509	if (master->stats.delayed) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	510	EC_WARN("%i frame(s) DELAYED!\n", master->stats.delayed);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	511	master->stats.delayed = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	512	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	513	if (master->stats.corrupted) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	514	EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	515	master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	516	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	517	if (master->stats.unmatched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	518	EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	519	master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	520	}
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	521	if (master->stats.eoe_errors) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	522	EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	523	master->stats.eoe_errors = 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	524	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	525	master->stats.t_last = t_now;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	526	}
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	527	}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	528
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	529	/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	530
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	531	/**
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	532	Wandelt eine ASCII-kodierte Bus-Adresse in einen Slave-Zeiger.
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	533
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	534	Gültige Adress-Strings sind Folgende:
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	535	- \a "X" = der X. Slave im Bus,
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	536	- \a "X:Y" = der Y. Slave hinter dem X. Buskoppler,
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	537	- \a "#X" = der Slave mit dem Alias X,
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	538	- \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit dem Alias X.
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	539
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	540	X und Y fangen immer bei 0 an und können auch hexadezimal oder oktal
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	541	angegeben werden (mit entsprechendem Prefix).
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	542
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	543	\return Zeiger auf Slave bei Erfolg, sonst NULL
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	544	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	545
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	546	ec_slave_t ecrt_master_get_slave(const ec_master_t master, /*< Master /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	547	const char address /< Address-String /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	548	)
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	549	{
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	550	unsigned long first, second;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	551	char remainder, remainder2;
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	552	unsigned int i, alias_requested, alias_slave_index, alias_found;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	553	int coupler_idx, slave_idx;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	554	ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	555
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	556	if (!address \|\| address[0] == 0) return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	557
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	558	alias_requested = 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	559	alias_slave_index = 0;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	560	if (address[0] == '#') {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	561	alias_requested = 1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	562	address++;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	563	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	564
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	565	first = simple_strtoul(address, &remainder, 0);
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	566	if (remainder == address) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	567	EC_ERR("Slave address \"%s\" - First number empty!\n", address);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	568	return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	569	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	570
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	571	if (alias_requested) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	572	alias_found = 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	573	for (i = 0; i < master->slave_count; i++) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	574	if (master->slaves[i].sii_alias == first) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	575	alias_slave_index = i;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	576	alias_found = 1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	577	break;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	578	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	579	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	580	if (!alias_found) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	581	EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	582	return NULL;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	583	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	584	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	585
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	586	if (!remainder[0]) { // absolute position
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	587	if (alias_requested) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	588	return master->slaves + alias_slave_index;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	589	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	590	else {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	591	if (first < master->slave_count) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	592	return master->slaves + first;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	593	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	594	EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	595	address);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	596	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	597	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	598	else if (remainder[0] == ':') { // field position
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	599	remainder++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	600	second = simple_strtoul(remainder, &remainder2, 0);
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	601
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	602	if (remainder2 == remainder) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	603	EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	604	return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	605	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	606
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	607	if (remainder2[0]) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	608	EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	609	return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	610	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	611
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	612	if (alias_requested) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	613	for (i = alias_slave_index + 1; i < master->slave_count; i++) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	614	slave = master->slaves + i;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	615	if (!slave->type \|\|
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	616	slave->type->special == EC_TYPE_BUS_COUPLER) break;
116 231b22fc034b Slave-Alias korrigiert. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	617	if (i - alias_slave_index == second) return slave;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	618	}
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	619	EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	620	" following!\n", address,
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	621	(master->slaves + alias_slave_index)->ring_position,
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	622	second);
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	623	return NULL;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	624	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	625	else {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	626	coupler_idx = -1;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	627	slave_idx = 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	628	for (i = 0; i < master->slave_count; i++, slave_idx++) {
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	629	slave = master->slaves + i;
116 231b22fc034b Slave-Alias korrigiert. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	630	if (!slave->type) continue;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	631	if (slave->type->special == EC_TYPE_BUS_COUPLER) {
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	632	coupler_idx++;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	633	slave_idx = 0;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	634	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	635	if (coupler_idx == first && slave_idx == second) return slave;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	636	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	637	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	638	}
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	639	else
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	640	EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	641
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	642	return NULL;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	643	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	644
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	645	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	646
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	647	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	648	Initialisiert eine Sync-Manager-Konfigurationsseite.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	649
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	650	Der mit \a data referenzierte Speicher muss mindestens EC_SYNC_SIZE Bytes
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	651	groß sein.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	652	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	653
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	654	void ec_sync_config(const ec_sync_t sync, /< Sync-Manager /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	655	uint8_t data /> Zeiger auf Konfigurationsspeicher /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	656	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	657	{
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	658	EC_WRITE_U16(data, sync->physical_start_address);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	659	EC_WRITE_U16(data + 2, sync->size);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	660	EC_WRITE_U8 (data + 4, sync->control_byte);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	661	EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	662	EC_WRITE_U16(data + 6, 0x0001); // enable
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	663	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	664
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	665	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	666
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	667	/**
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	668	Initialisiert eine Sync-Manager-Konfigurationsseite mit EEPROM-Daten.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	669
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	670	Der mit \a data referenzierte Speicher muss mindestens EC_SYNC_SIZE Bytes
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	671	groß sein.
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	672	*/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	673
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	674	void ec_eeprom_sync_config(const ec_eeprom_sync_t sync, /< Sync-Manager /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	675	uint8_t data /> Zeiger auf Konfig.-Speicher /
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	676	)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	677	{
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	678	EC_WRITE_U16(data, sync->physical_start_address);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	679	EC_WRITE_U16(data + 2, sync->length);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	680	EC_WRITE_U8 (data + 4, sync->control_register);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	681	EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	682	EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	683	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	684
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	685	/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	686
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	687	/**
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	688	Initialisiert eine FMMU-Konfigurationsseite.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	689
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	690	Der mit \a data referenzierte Speicher muss mindestens EC_FMMU_SIZE Bytes
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	691	groß sein.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	692	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	693
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	694	void ec_fmmu_config(const ec_fmmu_t fmmu, /< Sync-Manager /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	695	uint8_t data /> Zeiger auf Konfigurationsspeicher /
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	696	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	697	{
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	698	EC_WRITE_U32(data, fmmu->logical_start_address);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	699	EC_WRITE_U16(data + 4, fmmu->sync->size);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	700	EC_WRITE_U8 (data + 6, 0x00); // Logical start bit
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	701	EC_WRITE_U8 (data + 7, 0x07); // Logical end bit
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	702	EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	703	EC_WRITE_U8 (data + 10, 0x00); // Physical start bit
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	704	EC_WRITE_U8 (data + 11, (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	705	EC_WRITE_U16(data + 12, 0x0001); // Enable
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 74 diff changeset	706	EC_WRITE_U16(data + 14, 0x0000); // res.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	707	}
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	708
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	709	/*****************************************************************************/
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	710
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	711	/**
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	712	Gibt Überwachungsinformationen aus.
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	713	*/
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	714
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	715	void ec_master_process_watch_command(ec_master_t *master
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	716	/*< EtherCAT-Master /
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	717	)
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	718	{
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	719	unsigned int first;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	720
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	721	if (unlikely(master->watch_command.state == EC_CMD_INIT)) return;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	722
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	723	first = 1;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	724
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	725	if (master->watch_command.working_counter != master->slaves_responding \|\|
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	726	master->watch_command.data[0] != master->slave_states)
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	727	{
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	728	master->slaves_responding = master->watch_command.working_counter;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	729	master->slave_states = master->watch_command.data[0];
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	730
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	731	EC_INFO("%i slave%s responding (", master->slaves_responding,
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	732	master->slaves_responding == 1 ? "" : "s");
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	733
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	734	if (master->slave_states & EC_SLAVE_STATE_INIT) {
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	735	printk("INIT");
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	736	first = 0;
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	737	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	738	if (master->slave_states & EC_SLAVE_STATE_PREOP) {
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	739	if (!first) printk(", ");
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	740	printk("PREOP");
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	741	first = 0;
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	742	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	743	if (master->slave_states & EC_SLAVE_STATE_SAVEOP) {
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	744	if (!first) printk(", ");
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	745	printk("SAVEOP");
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	746	first = 0;
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	747	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	748	if (master->slave_states & EC_SLAVE_STATE_OP) {
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	749	if (!first) printk(", ");
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	750	printk("OP");
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	751	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	752	printk(")\n");
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	753	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	754	}
69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	755
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	756	/******************************************************************************
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	757	*
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	758	* Echtzeitschnittstelle
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	759	*
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	760	*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	761
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	762	/**
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	763	Erstellt eine neue Domäne.
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	764
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	765	\return Zeiger auf die Domäne bei Erfolg, sonst NULL.
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	766	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	767
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	768	ec_domain_t ecrt_master_create_domain(ec_master_t master /*< Master /)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	769	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	770	ec_domain_t *domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	771
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	772	if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	773	EC_ERR("Error allocating domain memory!\n");
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	774	return NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	775	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	776
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	777	ec_domain_init(domain, master);
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	778	list_add_tail(&domain->list, &master->domains);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	779
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	780	return domain;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	781	}
61 cd014255f94f register_slave_list() und Bugfix in deactivate_slaves() Florian Pose <fp@igh-essen.com> parents: 58 diff changeset	782
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	783	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	784
61 cd014255f94f register_slave_list() und Bugfix in deactivate_slaves() Florian Pose <fp@igh-essen.com> parents: 58 diff changeset	785	/**
58 21b7342e2a90 Code-Dokumentation mit Doxygen aufgearbeitet. Florian Pose <fp@igh-essen.com> parents: 56 diff changeset	786	Konfiguriert alle Slaves und setzt den Operational-Zustand.
21b7342e2a90 Code-Dokumentation mit Doxygen aufgearbeitet. Florian Pose <fp@igh-essen.com> parents: 56 diff changeset	787
21b7342e2a90 Code-Dokumentation mit Doxygen aufgearbeitet. Florian Pose <fp@igh-essen.com> parents: 56 diff changeset	788	Führt die komplette Konfiguration und Aktivierunge aller registrierten
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	789	Slaves durch. Setzt Sync-Manager und FMMUs, führt die entsprechenden
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	790	Zustandsübergänge durch, bis der Slave betriebsbereit ist.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	791
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	792	\return 0 bei Erfolg, sonst < 0
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	793	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	794
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	795	int ecrt_master_activate(ec_master_t master /< EtherCAT-Master /)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	796	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	797	unsigned int i, j;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	798	ec_slave_t *slave;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	799	ec_command_t *command;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	800	const ec_sync_t *sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	801	const ec_slave_type_t *type;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	802	const ec_fmmu_t *fmmu;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	803	uint32_t domain_offset;
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	804	ec_domain_t *domain;
155 ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	805	ec_eeprom_sync_t *eeprom_sync, mbox_sync;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	806
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	807	command = &master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	808
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	809	if (ec_command_brd(&master->watch_command, 0x130, 2)) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	810	EC_ERR("Failed to allocate watchdog command!\n");
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	811	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	812	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	813
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	814	// Domains erstellen
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	815	domain_offset = 0;
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	816	list_for_each_entry(domain, &master->domains, list) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	817	if (ec_domain_alloc(domain, domain_offset)) {
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	818	EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	819	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	820	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	821	domain_offset += domain->data_size;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	822	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	823
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	824	// Slaves aktivieren
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	825	for (i = 0; i < master->slave_count; i++) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	826	slave = master->slaves + i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	827
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	828	// Change state to INIT
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	829	if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	830	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	831
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	832	// Check if slave was registered...
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	833	type = slave->type;
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	834	if (!type) EC_WARN("Slave %i has unknown type!\n", i);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	835
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	836	// Check and reset CRC fault counters
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	837	ec_slave_check_crc(slave);
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	838
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	839	// Resetting FMMUs
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	840	if (slave->base_fmmu_count) {
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	841	if (ec_command_npwr(command, slave->station_address, 0x0600,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	842	EC_FMMU_SIZE * slave->base_fmmu_count))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	843	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	844	memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	845	if (unlikely(ec_master_simple_io(master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	846	EC_ERR("Resetting FMMUs failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	847	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	848	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	849	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	850	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	851
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	852	// Resetting Sync Manager channels
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	853	if (slave->base_sync_count) {
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	854	if (ec_command_npwr(command, slave->station_address, 0x0800,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	855	EC_SYNC_SIZE * slave->base_sync_count))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	856	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	857	memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	858	if (unlikely(ec_master_simple_io(master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	859	EC_ERR("Resetting sync managers failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	860	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	861	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	862	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	863	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	864
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	865	// Set Sync Managers
155 ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	866
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	867	// Known slave type, take type's SM information
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	868	if (type) {
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	869	for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	870	sync = type->sync_managers[j];
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	871	if (ec_command_npwr(command, slave->station_address,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	872	0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	873	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	874	ec_sync_config(sync, command->data);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	875	if (unlikely(ec_master_simple_io(master, command))) {
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	876	EC_ERR("Setting sync manager %i failed on slave %i!\n",
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	877	j, slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	878	return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	879	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	880	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	881	}
155 ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	882
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	883	// Unknown slave type, but has mailbox
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	884	else if (slave->sii_mailbox_protocols) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	885
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	886	// Does the device supply SM configurations in its EEPROM?
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	887	if (!list_empty(&slave->eeprom_syncs)) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	888	list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	889	EC_INFO("Sync manager %i...\n", eeprom_sync->index);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	890	if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	891	0x800 + eeprom_sync->index *
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	892	EC_SYNC_SIZE,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	893	EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	894	ec_eeprom_sync_config(eeprom_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	895	if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	896	EC_ERR("Setting sync manager %i failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	897	eeprom_sync->index, slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	898	return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	899	}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	900	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	901	}
155 ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	902
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	903	// No sync manager information; guess mailbox settings
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	904	else {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	905	mbox_sync.physical_start_address =
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	906	slave->sii_rx_mailbox_offset;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	907	mbox_sync.length = slave->sii_rx_mailbox_size;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	908	mbox_sync.control_register = 0x26;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	909	mbox_sync.enable = 1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	910	if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	911	0x800,EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	912	ec_eeprom_sync_config(&mbox_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	913	if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	914	EC_ERR("Setting sync manager 0 failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	915	slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	916	return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	917	}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	918
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	919	mbox_sync.physical_start_address =
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	920	slave->sii_tx_mailbox_offset;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	921	mbox_sync.length = slave->sii_tx_mailbox_size;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	922	mbox_sync.control_register = 0x22;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	923	mbox_sync.enable = 1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	924	if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	925	0x808, EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	926	ec_eeprom_sync_config(&mbox_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	927	if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	928	EC_ERR("Setting sync manager 1 failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	929	slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	930	return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	931	}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	932	}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	933	EC_INFO("Mailbox configured for unknown slave %i\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves. Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	934	slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	935	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	936
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	937	// Change state to PREOP
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	938	if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	939	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	940
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	941	// Stop activation here for slaves without type
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	942	if (!type) continue;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	943
81 28b1defdcc88 Nicht registrierte Slaves in PREOP schalten. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	944	// Slaves that are not registered are only brought into PREOP
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	945	// state -> nice blinking and mailbox communication possible
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	946	if (!slave->registered && !slave->type->special) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	947	EC_WARN("Slave %i was not registered!\n", slave->ring_position);
81 28b1defdcc88 Nicht registrierte Slaves in PREOP schalten. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	948	continue;
28b1defdcc88 Nicht registrierte Slaves in PREOP schalten. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	949	}
28b1defdcc88 Nicht registrierte Slaves in PREOP schalten. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	950
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	951	// Set FMMUs
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	952	for (j = 0; j < slave->fmmu_count; j++) {
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	953	fmmu = &slave->fmmus[j];
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	954	if (ec_command_npwr(command, slave->station_address,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	955	0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	956	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	957	ec_fmmu_config(fmmu, command->data);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	958	if (unlikely(ec_master_simple_io(master, command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	959	EC_ERR("Setting FMMU %i failed on slave %i!\n",
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	960	j, slave->ring_position);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	961	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	962	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	963	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	964
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	965	// Change state to SAVEOP
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	966	if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_SAVEOP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	967	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	968
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	969	// Change state to OP
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	970	if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_OP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	971	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	972	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	973
166 29b19a90ff3f Better outputs concerning responding slaves. Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	974	master->slaves_responding = 0;
29b19a90ff3f Better outputs concerning responding slaves. Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	975	master->slave_states = EC_SLAVE_STATE_INIT;
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 129 diff changeset	976
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	977	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	978	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	979
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	980	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	981
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	982	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	983	Setzt alle Slaves zurück in den Init-Zustand.
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	984	*/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	985
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	986	void ecrt_master_deactivate(ec_master_t master /< EtherCAT-Master /)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	987	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	988	ec_slave_t *slave;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	989	unsigned int i;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	990
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	991	for (i = 0; i < master->slave_count; i++)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	992	{
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	993	slave = master->slaves + i;
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	994	ec_slave_check_crc(slave);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	995	ec_slave_state_change(slave, EC_SLAVE_STATE_INIT);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	996	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	997	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	998
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	999
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1000	/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1001
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1002	/**
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1003	Lädt die SDO-Dictionaries aller Slaves.
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1004
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1005	Slaves, die kein CoE unterstützen, werden ausgelassen.
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1006
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1007	\return 0 wenn alles ok, sonst < 0
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1008	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1009
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1010	int ecrt_master_fetch_sdo_lists(ec_master_t master /< EtherCAT-Master /)
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1011	{
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1012	ec_slave_t *slave;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1013	unsigned int i;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1014
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1015	for (i = 0; i < master->slave_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1016	slave = master->slaves + i;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1017	if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1018	if (unlikely(ec_slave_fetch_sdo_list(slave))) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1019	EC_ERR("Failed to fetch SDO list on slave %i!\n",
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1020	slave->ring_position);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1021	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1022	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1023	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1024	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1025
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1026	return 0;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1027	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1028
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1029	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1030
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1031	/**
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1032	Sendet und empfängt Kommandos synchron.
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1033	*/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1034
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1035	void ecrt_master_sync_io(ec_master_t *master)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1036	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1037	ec_command_t command, n;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1038	unsigned int commands_sent;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1039	cycles_t t_start, t_end, t_timeout;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1040
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1041	// Kommandos senden
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1042	ecrt_master_async_send(master);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1043
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1044	t_start = get_cycles(); // Sendezeit nehmen
120 e713e7420c4d 64bit-Division vermieden. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	1045	t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1046
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1047	while (1) // Aktiv auf Empfang warten
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1048	{
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1049	ec_device_call_isr(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1050
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1051	t_end = get_cycles(); // Aktuelle Zeit nehmen
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1052	if (t_end - t_start >= t_timeout) break; // Timeout
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1053
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1054	commands_sent = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1055	list_for_each_entry_safe(command, n, &master->command_queue, queue) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1056	if (command->state == EC_CMD_RECEIVED)
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1057	list_del_init(&command->queue);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1058	else if (command->state == EC_CMD_SENT)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1059	commands_sent++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1060	}
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1061
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1062	if (!commands_sent) break;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1063	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1064
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1065	// Zeit abgelaufen. Alle verbleibenden Kommandos entfernen.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1066	list_for_each_entry_safe(command, n, &master->command_queue, queue) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1067	switch (command->state) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1068	case EC_CMD_SENT:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1069	case EC_CMD_QUEUED:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1070	command->state = EC_CMD_TIMEOUT;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1071	master->stats.timeouts++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1072	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1073	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1074	case EC_CMD_RECEIVED:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1075	master->stats.delayed++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1076	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1077	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1078	default:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1079	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1080	}
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1081	list_del_init(&command->queue);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1082	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1083	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1084
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1085	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1086
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1087	/**
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1088	Sendet Kommandos asynchron.
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1089	*/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1090
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1091	void ecrt_master_async_send(ec_master_t *master)
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1092	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1093	ec_command_t command, n;
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1094
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1095	if (unlikely(!master->device->link_state)) {
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1096	// Link DOWN, keines der Kommandos kann gesendet werden.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1097	list_for_each_entry_safe(command, n, &master->command_queue, queue) {
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1098	command->state = EC_CMD_ERROR;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1099	list_del_init(&command->queue);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1100	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1101
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1102	// Device-Zustand abfragen
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1103	ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1104	return;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1105	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1106
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1107	// Rahmen senden
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1108	ec_master_send_commands(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1109	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1110
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1111	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1112
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1113	/**
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1114	Empfängt Kommandos asynchron.
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1115	*/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1116
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1117	void ecrt_master_async_receive(ec_master_t *master)
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1118	{
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1119	ec_command_t command, next;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1120
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1121	ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1122
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1123	// Alle empfangenen Kommandos aus der Liste entfernen
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1124	list_for_each_entry_safe(command, next, &master->command_queue, queue)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1125	if (command->state == EC_CMD_RECEIVED) list_del_init(&command->queue);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1126
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1127	// Alle verbleibenden Kommandos entfernen.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1128	list_for_each_entry_safe(command, next, &master->command_queue, queue) {
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1129	switch (command->state) {
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1130	case EC_CMD_SENT:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1131	case EC_CMD_QUEUED:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1132	command->state = EC_CMD_TIMEOUT;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1133	master->stats.timeouts++;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1134	ec_master_output_stats(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1135	break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1136	default:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1137	break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1138	}
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1139	list_del_init(&command->queue);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1140	}
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1141	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1142
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1143	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1144
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1145	/**
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1146	Bereitet Synchronen Datenverkehr vor.
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1147
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1148	Fürgt einmal die Kommandos aller Domains zur Warteschlange hinzu, sendet
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1149	diese ab und wartet so lange, bis diese anschließend problemlos empfangen
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1150	werden können.
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1151	*/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1152
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1153	void ecrt_master_prepare_async_io(ec_master_t *master)
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1154	{
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1155	ec_domain_t *domain;
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1156	cycles_t t_start, t_end, t_timeout;
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1157
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1158	// Kommandos aller Domains in die Warteschlange setzen
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1159	list_for_each_entry(domain, &master->domains, list)
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1160	ecrt_domain_queue(domain);
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1161
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1162	ecrt_master_async_send(master);
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1163
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1164	t_start = get_cycles(); // Sendezeit nehmen
120 e713e7420c4d 64bit-Division vermieden. Florian Pose <fp@igh-essen.com> parents: 119 diff changeset	1165	t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1166
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1167	// Aktiv warten!
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1168	while (1) {
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1169	t_end = get_cycles();
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1170	if (t_end - t_start >= t_timeout) break;
a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1171	}
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1172	}
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1173
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1174	/*****************************************************************************/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1175
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1176	/**
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1177	Führt Routinen im zyklischen Betrieb aus.
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1178	*/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1179
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1180	void ecrt_master_run(ec_master_t master /< EtherCAT-Master /)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1181	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1182	// Statistiken ausgeben
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1183	ec_master_output_stats(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1184
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1185	// Watchdog-Kommando
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1186	ec_master_process_watch_command(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1187	ec_master_queue_command(master, &master->watch_command);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1188
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1189	// Ethernet-over-EtherCAT
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1190	ec_master_run_eoe(master);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1191	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1192
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1193	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1194
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1195	/**
56 36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	1196	Setzt die Debug-Ebene des Masters.
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1197
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1198	Folgende Debug-Level sind definiert:
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1199
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1200	- 1: Nur Positionsmarken in bestimmten Funktionen
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1201	- 2: Komplette Frame-Inhalte
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1202	*/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	1203
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1204	void ecrt_master_debug(ec_master_t master, /< EtherCAT-Master /
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1205	int level /*< Debug-Level /
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1206	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1207	{
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1208	if (level != master->debug_level) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1209	master->debug_level = level;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1210	EC_INFO("Master debug level set to %i.\n", level);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1211	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1212	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1213
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1214	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1215
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1216	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1217	Gibt alle Informationen zum Master aus.
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1218
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1219	Verbosity:
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1220	0 - Nur Slavetypen und Adressen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1221	1 - mit EEPROM-Informationen
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1222	>1 - mit SDO-Dictionaries
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1223	*/
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1224
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1225	void ecrt_master_print(const ec_master_t master, /< EtherCAT-Master /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1226	unsigned int verbosity /*< Geschwätzigkeit /
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	1227	)
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1228	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1229	unsigned int i;
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1230	ec_eoe_t *eoe;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1231
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	1232	EC_INFO("* Begin master information *\n");
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1233	if (master->slave_count) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1234	EC_INFO("Slave list:\n");
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1235	for (i = 0; i < master->slave_count; i++)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1236	ec_slave_print(&master->slaves[i], verbosity);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1237	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1238	if (!list_empty(&master->eoe_slaves)) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1239	EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1240	list_for_each_entry(eoe, &master->eoe_slaves, list) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1241	ec_eoe_print(eoe);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1242	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1243	}
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	1244	EC_INFO("* End master information *\n");
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1245	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1246
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1247	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1248
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1249	void ec_master_run_eoe(ec_master_t master /< EtherCAT-Master /)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1250	{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1251	ec_eoe_t *eoe;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1252
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1253	list_for_each_entry(eoe, &master->eoe_slaves, list) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1254	ec_eoe_run(eoe);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1255	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1256	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1257
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1258	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	1259
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1260	EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1261	EXPORT_SYMBOL(ecrt_master_activate);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1262	EXPORT_SYMBOL(ecrt_master_deactivate);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1263	EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists);
109 c6766baead5e Bugfix: EXPORT_SYMBOL f?r ec_master_prepare_async_io() vergessen. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	1264	EXPORT_SYMBOL(ecrt_master_prepare_async_io);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1265	EXPORT_SYMBOL(ecrt_master_sync_io);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1266	EXPORT_SYMBOL(ecrt_master_async_send);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1267	EXPORT_SYMBOL(ecrt_master_async_receive);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1268	EXPORT_SYMBOL(ecrt_master_run);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1269	EXPORT_SYMBOL(ecrt_master_debug);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1270	EXPORT_SYMBOL(ecrt_master_print);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1271	EXPORT_SYMBOL(ecrt_master_get_slave);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1272
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1273	/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1274
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1275	/* Emacs-Konfiguration
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1276	;;; Local Variables: ***
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1277	;;; c-basic-offset:4 ***
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1278	;;; End: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1279	*/

author	Florian Pose <fp@igh-essen.com>
	Mon, 10 Apr 2006 10:53:12 +0000
changeset 176	1ac0fc378b95
parent 173	10e182a8bc4e
child 178	b84f69db8566
permissions	-rw-r--r--