master/master.c
author Florian Pose <fp@igh-essen.com>
Wed, 04 Jan 2012 12:35:31 +0100
changeset 2184 23d5d166d24e
parent 2166 1d5a5303f15c
child 2240 b45438edf869
permissions -rw-r--r--
Added e100 driver for 2.6.37.
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/******************************************************************************
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 *
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 *  $Id: master.c,v afb40fd6018e 2011/09/16 12:10:23 fp $
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  vim: expandtab
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/string.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/version.h>
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#include <linux/hrtimer.h>
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#include "globals.h"
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#include "slave.h"
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#include "slave_config.h"
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#include "device.h"
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#include "datagram.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "master.h"
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/*****************************************************************************/
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/** Set to 1 to enable fsm datagram injection debugging.
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 */
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#ifdef USE_TRACE_PRINTK
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#define DEBUG_INJECT 1
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#else
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#define DEBUG_INJECT 0
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#endif
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#ifdef EC_HAVE_CYCLES
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/** Frame timeout in cycles.
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 */
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static cycles_t timeout_cycles;
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/** Timeout for fsm datagram injection [cycles].
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 */
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static cycles_t fsm_injection_timeout_cycles;
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#else
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/** Frame timeout in jiffies.
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 */
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static unsigned long timeout_jiffies;
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/** Timeout for fsm datagram injection [jiffies].
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 */
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static unsigned long fsm_injection_timeout_jiffies;
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#endif
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/*****************************************************************************/
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void ec_master_clear_slave_configs(ec_master_t *);
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void ec_master_clear_domains(ec_master_t *);
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static int ec_master_idle_thread(void *);
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static int ec_master_operation_thread(void *);
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#ifdef EC_EOE
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static int ec_master_eoe_processing(ec_master_t *);
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#endif
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void ec_master_find_dc_ref_clock(ec_master_t *);
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/*****************************************************************************/
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/** Static variables initializer.
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*/
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void ec_master_init_static(void)
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{
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#ifdef EC_HAVE_CYCLES
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    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
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    fsm_injection_timeout_cycles = (cycles_t) EC_FSM_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);
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#else
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    // one jiffy may always elapse between time measurement
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    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
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    fsm_injection_timeout_jiffies = max(EC_FSM_INJECTION_TIMEOUT * HZ / 1000000, 1);
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#endif
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}
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/*****************************************************************************/
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/**
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   Master constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_master_init(ec_master_t *master, /**< EtherCAT master */
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   124
        unsigned int index, /**< master index */
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   125
        const uint8_t *main_mac, /**< MAC address of main device */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents: 902
diff changeset
   126
        const uint8_t *backup_mac, /**< MAC address of backup device */
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   127
        dev_t device_number, /**< Character device number. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   128
        struct class *class, /**< Device class. */
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   129
        unsigned int debug_level /**< Debug level (module parameter). */
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   130
        )
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   131
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   132
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   133
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   134
    master->index = index;
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   135
    master->reserved = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   136
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   137
    ec_mutex_init(&master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   138
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   139
    master->main_mac = main_mac;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   140
    master->backup_mac = backup_mac;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   141
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   142
    ec_mutex_init(&master->device_mutex);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   143
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   144
    master->phase = EC_ORPHANED;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   145
    master->active = 0;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   146
    master->config_changed = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   147
    master->injection_seq_fsm = 0;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   148
    master->injection_seq_rt = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   149
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   150
    master->slaves = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   151
    master->slave_count = 0;
1987
f452c93f7723 Improved distributed clock offset calculation to speed-up initial drift compensation
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   152
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   153
    INIT_LIST_HEAD(&master->configs);
2165
1d94f77784a0 Fixed missing initialisation of allow_config flag.
Florian Pose <fp@igh-essen.com>
parents: 2164
diff changeset
   154
    INIT_LIST_HEAD(&master->domains);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   155
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   156
    master->app_time = 0ULL;
2165
1d94f77784a0 Fixed missing initialisation of allow_config flag.
Florian Pose <fp@igh-essen.com>
parents: 2164
diff changeset
   157
    master->app_start_time = 0ULL;
1d94f77784a0 Fixed missing initialisation of allow_config flag.
Florian Pose <fp@igh-essen.com>
parents: 2164
diff changeset
   158
    master->has_app_time = 0;
1987
f452c93f7723 Improved distributed clock offset calculation to speed-up initial drift compensation
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   159
#ifdef EC_HAVE_CYCLES
2001
2e05246f3b00 renamed dc_cycles_app_time -> dc_cycles_app_start_time & dc_jiffies_app_time -> dc_jiffies_app_start_time
Martin Troxler <ch1010277@ch10pc446>
parents: 2000
diff changeset
   160
    master->dc_cycles_app_start_time = 0;
2e05246f3b00 renamed dc_cycles_app_time -> dc_cycles_app_start_time & dc_jiffies_app_time -> dc_jiffies_app_start_time
Martin Troxler <ch1010277@ch10pc446>
parents: 2000
diff changeset
   161
#endif
2e05246f3b00 renamed dc_cycles_app_time -> dc_cycles_app_start_time & dc_jiffies_app_time -> dc_jiffies_app_start_time
Martin Troxler <ch1010277@ch10pc446>
parents: 2000
diff changeset
   162
    master->dc_jiffies_app_start_time = 0;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   163
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   164
    master->scan_busy = 0;
2165
1d94f77784a0 Fixed missing initialisation of allow_config flag.
Florian Pose <fp@igh-essen.com>
parents: 2164
diff changeset
   165
    master->allow_scan = 1;
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   166
    ec_mutex_init(&master->scan_mutex);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   167
    init_waitqueue_head(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   168
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   169
    master->config_busy = 0;
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   170
    ec_mutex_init(&master->config_mutex);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   171
    init_waitqueue_head(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   172
    
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   173
    INIT_LIST_HEAD(&master->datagram_queue);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   174
    master->datagram_index = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   175
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   176
    ec_mutex_init(&master->fsm_queue_mutex);
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   177
    INIT_LIST_HEAD(&master->fsm_datagram_queue);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   178
    
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   179
    // send interval in IDLE phase
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   180
    ec_master_set_send_interval(master, 1000000 / HZ);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   181
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   182
    master->debug_level = debug_level;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   183
    master->stats.timeouts = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   184
    master->stats.corrupted = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   185
    master->stats.unmatched = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   186
    master->stats.output_jiffies = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   187
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   188
    master->thread = NULL;
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   189
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
   190
#ifdef EC_EOE
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   191
    master->eoe_thread = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   192
    INIT_LIST_HEAD(&master->eoe_handlers);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   193
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   194
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   195
    ec_mutex_init(&master->io_mutex);
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   196
    master->fsm_queue_lock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   197
    master->fsm_queue_unlock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   198
    master->fsm_queue_locking_data = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   199
    master->app_fsm_queue_lock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   200
    master->app_fsm_queue_unlock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   201
    master->app_fsm_queue_locking_data = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   202
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   203
    INIT_LIST_HEAD(&master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   204
    init_waitqueue_head(&master->sii_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   205
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   206
    INIT_LIST_HEAD(&master->reg_requests);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   207
    init_waitqueue_head(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1198
diff changeset
   208
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   209
    // init devices
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   210
    ret = ec_device_init(&master->main_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   211
    if (ret < 0)
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   212
        goto out_return;
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   213
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   214
    ret = ec_device_init(&master->backup_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   215
    if (ret < 0)
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   216
        goto out_clear_main;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   217
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   218
    // init state machine datagram
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   219
    ec_datagram_init(&master->fsm_datagram);
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   220
    snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   221
    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   222
    if (ret < 0) {
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   223
        ec_datagram_clear(&master->fsm_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   224
        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   225
        goto out_clear_backup;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   226
    }
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   227
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   228
    // create state machine object
2165
1d94f77784a0 Fixed missing initialisation of allow_config flag.
Florian Pose <fp@igh-essen.com>
parents: 2164
diff changeset
   229
    ec_mbox_init(&master->fsm_mbox, &master->fsm_datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   230
    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   231
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   232
    // init reference sync datagram
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   233
    ec_datagram_init(&master->ref_sync_datagram);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   234
    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   235
    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   236
    if (ret < 0) {
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   237
        ec_datagram_clear(&master->ref_sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   238
        EC_MASTER_ERR(master, "Failed to allocate reference"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   239
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   240
        goto out_clear_fsm;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   241
    }
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   242
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   243
    // init sync datagram
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   244
    ec_datagram_init(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   245
    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   246
    ret = ec_datagram_prealloc(&master->sync_datagram, 4);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   247
    if (ret < 0) {
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   248
        ec_datagram_clear(&master->sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   249
        EC_MASTER_ERR(master, "Failed to allocate"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   250
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   251
        goto out_clear_ref_sync;
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   252
    }
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   253
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   254
    // init sync monitor datagram
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   255
    ec_datagram_init(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   256
    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   257
    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   258
    if (ret < 0) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   259
        ec_datagram_clear(&master->sync_mon_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   260
        EC_MASTER_ERR(master, "Failed to allocate sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   261
                " monitoring datagram.\n");
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   262
        goto out_clear_sync;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   263
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   264
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   265
    ec_master_find_dc_ref_clock(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   266
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   267
    // init character device
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   268
    ret = ec_cdev_init(&master->cdev, master, device_number);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   269
    if (ret)
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   270
        goto out_clear_sync_mon;
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   271
    
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   272
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   273
    master->class_device = device_create(class, NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   274
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   275
            "EtherCAT%u", master->index);
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   276
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   277
    master->class_device = device_create(class, NULL,
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   278
            MKDEV(MAJOR(device_number), master->index),
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   279
            "EtherCAT%u", master->index);
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   280
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   281
    master->class_device = class_device_create(class, NULL,
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   282
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   283
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
Florian Pose <fp@igh-essen.com>
parents: 1013
diff changeset
   284
#else
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   285
    master->class_device = class_device_create(class,
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   286
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   287
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
Florian Pose <fp@igh-essen.com>
parents: 1013
diff changeset
   288
#endif
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   289
    if (IS_ERR(master->class_device)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   290
        EC_MASTER_ERR(master, "Failed to create class device!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   291
        ret = PTR_ERR(master->class_device);
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   292
        goto out_clear_cdev;
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   293
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   294
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   295
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   296
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   297
out_clear_cdev:
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   298
    ec_cdev_clear(&master->cdev);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   299
out_clear_sync_mon:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   300
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   301
out_clear_sync:
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   302
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   303
out_clear_ref_sync:
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   304
    ec_datagram_clear(&master->ref_sync_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   305
out_clear_fsm:
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   306
    ec_fsm_master_clear(&master->fsm);
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   307
    ec_datagram_clear(&master->fsm_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   308
out_clear_backup:
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   309
    ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   310
out_clear_main:
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   311
    ec_device_clear(&master->main_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   312
out_return:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   313
    return ret;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 35
diff changeset
   316
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   318
/** Destructor.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   319
*/
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   320
void ec_master_clear(
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   321
        ec_master_t *master /**< EtherCAT master */
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   322
        )
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   323
{
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   324
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   325
    device_unregister(master->class_device);
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   326
#else
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   327
    class_device_unregister(master->class_device);
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   328
#endif
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   329
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   330
    ec_cdev_clear(&master->cdev);
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2040
diff changeset
   331
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   332
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   333
    ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   334
#endif
994
e29edcced328 Clear domains before slave configs, because domain references the FMMU
Florian Pose <fp@igh-essen.com>
parents: 993
diff changeset
   335
    ec_master_clear_domains(master);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   336
    ec_master_clear_slave_configs(master);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   337
    ec_master_clear_slaves(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   338
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   339
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   340
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   341
    ec_datagram_clear(&master->ref_sync_datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   342
    ec_fsm_master_clear(&master->fsm);
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2040
diff changeset
   343
    ec_mbox_clear(&master->fsm_mbox);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   344
    ec_datagram_clear(&master->fsm_datagram);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   345
    ec_device_clear(&master->backup_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   346
    ec_device_clear(&master->main_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   347
}
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   348
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   349
/*****************************************************************************/
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   350
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   351
#ifdef EC_EOE
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   352
/** Clear and free all EoE handlers.
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   353
 */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   354
void ec_master_clear_eoe_handlers(
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   355
        ec_master_t *master /**< EtherCAT master */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   356
        )
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   357
{
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   358
    ec_eoe_t *eoe, *next;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   359
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   360
    list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   361
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   362
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   363
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   364
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   365
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   366
#endif
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   367
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   368
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   369
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   370
/** Clear all slave configurations.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   371
 */
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   372
void ec_master_clear_slave_configs(ec_master_t *master)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   373
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   374
    ec_slave_config_t *sc, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   375
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   376
    list_for_each_entry_safe(sc, next, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   377
        list_del(&sc->list);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   378
        ec_slave_config_clear(sc);
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   379
        kfree(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   380
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   381
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   382
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   383
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   384
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   385
/** Clear all slaves.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   386
 */
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   387
void ec_master_clear_slaves(ec_master_t *master)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   388
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   389
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   390
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   391
    master->dc_ref_clock = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   392
1538
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   393
    // external requests are obsolete, so we wake pending waiters and remove
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   394
    // them from the list
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   395
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   396
    while (!list_empty(&master->sii_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   397
        ec_sii_write_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   398
            list_entry(master->sii_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   399
                    ec_sii_write_request_t, list);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   400
        list_del_init(&request->list); // dequeue
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   401
        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   402
                " to be deleted.\n", request->slave->ring_position);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   403
        request->state = EC_INT_REQUEST_FAILURE;
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
   404
        kref_put(&request->refcount,ec_master_sii_write_request_release);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   405
        wake_up(&master->sii_queue);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   406
    }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   407
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   408
    while (!list_empty(&master->reg_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   409
        ec_reg_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   410
            list_entry(master->reg_requests.next, ec_reg_request_t, list);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   411
        list_del_init(&request->list); // dequeue
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   412
        EC_MASTER_WARN(master, "Discarding register request, slave %u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   413
                " about to be deleted.\n", request->slave->ring_position);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   414
        request->state = EC_INT_REQUEST_FAILURE;
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
   415
        kref_put(&request->refcount,ec_master_reg_request_release);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   416
        wake_up(&master->reg_queue);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   417
    }
1538
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   418
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   419
    // we must lock the io_mutex here because the slave's fsm_datagram
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   420
    // will be unqueued
2040
45706e3273fd lock io_mutex when unqueueing datagrams; unqueue datagrams from send-receive queue.
Martin Troxler <ch1010277@ch10pc446>
parents: 2039
diff changeset
   421
    ec_mutex_lock(&master->io_mutex);
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   422
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   423
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   424
            slave++) {
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   425
        ec_slave_clear(slave);
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   426
    }
2040
45706e3273fd lock io_mutex when unqueueing datagrams; unqueue datagrams from send-receive queue.
Martin Troxler <ch1010277@ch10pc446>
parents: 2039
diff changeset
   427
    ec_mutex_unlock(&master->io_mutex);
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   428
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   429
    if (master->slaves) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   430
        kfree(master->slaves);
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   431
        master->slaves = NULL;
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   432
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   433
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   434
    master->slave_count = 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
   435
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   436
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   437
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   438
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   439
/** Clear all domains.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   440
 */
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   441
void ec_master_clear_domains(ec_master_t *master)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   442
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   443
    ec_domain_t *domain, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   444
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   445
    // we must lock the io_mutex here because the domains's datagram
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   446
    // will be unqueued
2040
45706e3273fd lock io_mutex when unqueueing datagrams; unqueue datagrams from send-receive queue.
Martin Troxler <ch1010277@ch10pc446>
parents: 2039
diff changeset
   447
    ec_mutex_lock(&master->io_mutex);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   448
    list_for_each_entry_safe(domain, next, &master->domains, list) {
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   449
        list_del(&domain->list);
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   450
        ec_domain_clear(domain);
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   451
        kfree(domain);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   452
    }
2040
45706e3273fd lock io_mutex when unqueueing datagrams; unqueue datagrams from send-receive queue.
Martin Troxler <ch1010277@ch10pc446>
parents: 2039
diff changeset
   453
    ec_mutex_unlock(&master->io_mutex);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   454
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   455
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   456
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   457
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   458
/** Clear the configuration applied by the application.
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   459
 */
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   460
void ec_master_clear_config(
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   461
        ec_master_t *master /**< EtherCAT master. */
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   462
        )
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   463
{
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   464
    ec_mutex_lock(&master->master_mutex);
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   465
    ec_master_clear_domains(master);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   466
    ec_master_clear_slave_configs(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   467
    ec_mutex_unlock(&master->master_mutex);
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   468
}
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   469
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   470
/*****************************************************************************/
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   471
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   472
/** Starts the master thread.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   473
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   474
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   475
 * \retval <0 Error code.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   476
 */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   477
int ec_master_thread_start(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   478
        ec_master_t *master, /**< EtherCAT master */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   479
        int (*thread_func)(void *), /**< thread function to start */
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   480
        const char *name /**< Thread name. */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   481
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   482
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   483
    EC_MASTER_INFO(master, "Starting %s thread.\n", name);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   484
    master->thread = kthread_run(thread_func, master, name);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   485
    if (IS_ERR(master->thread)) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   486
        int err = (int) PTR_ERR(master->thread);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   487
        EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   488
                err);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   489
        master->thread = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   490
        return err;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   491
    }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   492
    
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   493
    return 0;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   494
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   495
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   496
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   497
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   498
/** Stops the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   499
 */
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   500
void ec_master_thread_stop(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   501
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   502
        )
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   503
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   504
    unsigned long sleep_jiffies;
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   505
    
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   506
    if (!master->thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   507
        EC_MASTER_WARN(master, "%s(): Already finished!\n", __func__);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   508
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   509
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   510
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   511
    EC_MASTER_DBG(master, 1, "Stopping master thread.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   512
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   513
    kthread_stop(master->thread);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   514
    master->thread = NULL;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   515
    EC_MASTER_INFO(master, "Master thread exited.\n");
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   516
1198
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   517
    if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   518
        return;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   519
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   520
    // wait for FSM datagram
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   521
    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   522
    schedule_timeout(sleep_jiffies);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   523
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   524
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   525
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   526
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   527
/** Transition function from ORPHANED to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   528
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   529
int ec_master_enter_idle_phase(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   530
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   531
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   532
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   533
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   534
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   535
    EC_MASTER_DBG(master, 1, "ORPHANED -> IDLE.\n");
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   536
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   537
    master->fsm_queue_lock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   538
    master->fsm_queue_unlock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   539
    master->fsm_queue_locking_data = NULL;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   540
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   541
    master->phase = EC_IDLE;
2166
1d5a5303f15c Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2165
diff changeset
   542
1d5a5303f15c Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2165
diff changeset
   543
    // reset number of responding slaves to trigger scanning
1d5a5303f15c Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2165
diff changeset
   544
    master->fsm.slaves_responding = 0;
1d5a5303f15c Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2165
diff changeset
   545
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   546
    ret = ec_master_thread_start(master, ec_master_idle_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   547
            "EtherCAT-IDLE");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   548
    if (ret)
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   549
        master->phase = EC_ORPHANED;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   550
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   551
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   552
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   553
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   554
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   555
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   556
/** Transition function from IDLE to ORPHANED phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   557
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   558
void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   559
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   560
    EC_MASTER_DBG(master, 1, "IDLE -> ORPHANED.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   561
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   562
    master->phase = EC_ORPHANED;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   563
    
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   564
    ec_master_thread_stop(master);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   565
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   566
    ec_mutex_lock(&master->master_mutex);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   567
    ec_master_clear_slaves(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   568
    ec_mutex_unlock(&master->master_mutex);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   569
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   570
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   571
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   572
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   573
/** Transition function from IDLE to OPERATION phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   574
 */
2110
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
   575
int ec_master_enter_operation_phase(
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   576
        ec_master_t *master /**< EtherCAT master */
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
   577
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   578
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   579
    int ret = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   580
    ec_slave_t *slave;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   581
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   582
    ec_eoe_t *eoe;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   583
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   584
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   585
    EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   586
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   587
    ec_mutex_lock(&master->config_mutex);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   588
    if (master->config_busy) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   589
        ec_mutex_unlock(&master->config_mutex);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   590
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   591
        // wait for slave configuration to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   592
        ret = wait_event_interruptible(master->config_queue,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   593
                    !master->config_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   594
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   595
            EC_MASTER_INFO(master, "Finishing slave configuration"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   596
                    " interrupted by signal.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   597
            goto out_allow;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   598
        }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   599
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   600
        EC_MASTER_DBG(master, 1, "Waiting for pending slave"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   601
                " configuration returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   602
    } else {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   603
        ec_mutex_unlock(&master->config_mutex);
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   604
    }
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   605
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   606
    ec_mutex_lock(&master->scan_mutex);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   607
    master->allow_scan = 0; // 'lock' the slave list
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   608
    if (!master->scan_busy) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   609
        ec_mutex_unlock(&master->scan_mutex);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   610
    } else {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   611
        ec_mutex_unlock(&master->scan_mutex);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   612
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   613
        // wait for slave scan to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   614
        ret = wait_event_interruptible(master->scan_queue, !master->scan_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   615
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   616
            EC_MASTER_INFO(master, "Waiting for slave scan"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   617
                    " interrupted by signal.\n");
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   618
            goto out_allow;
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   619
        }
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   620
        
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   621
        EC_MASTER_DBG(master, 1, "Waiting for pending"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   622
                " slave scan returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   623
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   624
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   625
    // set states for all slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   626
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   627
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   628
            slave++) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   629
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   630
    }
1451
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
   631
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   632
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   633
    // ... but set EoE slaves to OP
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   634
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   635
        if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   636
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   637
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   638
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   639
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   640
    master->phase = EC_OPERATION;
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   641
    master->app_fsm_queue_lock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   642
    master->app_fsm_queue_unlock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   643
    master->app_fsm_queue_locking_data = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   644
    return ret;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   645
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   646
out_allow:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   647
    master->allow_scan = 1;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   648
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   649
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   650
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   651
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   652
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   653
/** Transition function from OPERATION to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   654
 */
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   655
void ec_master_leave_operation_phase(
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   656
        ec_master_t *master /**< EtherCAT master */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   657
        )
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   658
{
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   659
    if (master->active) {
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   660
        ecrt_master_deactivate(master); // also clears config
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   661
    } else {
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   662
        ec_master_clear_config(master);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   663
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   664
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   665
    EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   666
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   667
    master->phase = EC_IDLE;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   668
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   669
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   670
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   671
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   672
/** Injects fsm datagrams that fit into the datagram queue.
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   673
 */
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   674
void ec_master_inject_fsm_datagrams(
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   675
        ec_master_t *master /**< EtherCAT master */
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   676
        )
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   677
{
2039
629d3cf05180 Minor changes (consistent variable naming)
Martin Troxler <ch1010277@ch10pc446>
parents: 2038
diff changeset
   678
    ec_datagram_t *datagram, *next;
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   679
    size_t queue_size = 0;
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   680
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   681
    if (master->fsm_queue_lock_cb) {
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   682
        master->fsm_queue_lock_cb(master->fsm_queue_locking_data);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   683
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   684
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   685
    if (ec_mutex_trylock(&master->fsm_queue_mutex) == 0) {
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   686
        goto unlock_cb;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   687
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   688
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   689
    if (list_empty(&master->fsm_datagram_queue)) {
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   690
        goto unlock;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   691
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   692
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   693
    list_for_each_entry(datagram, &master->datagram_queue, queue) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   694
        queue_size += datagram->data_size;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   695
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   696
2039
629d3cf05180 Minor changes (consistent variable naming)
Martin Troxler <ch1010277@ch10pc446>
parents: 2038
diff changeset
   697
    list_for_each_entry_safe(datagram, next, &master->fsm_datagram_queue,
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   698
            fsm_queue) {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   699
        queue_size += datagram->data_size;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   700
        if (queue_size <= master->max_queue_size) {
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   701
            list_del_init(&datagram->fsm_queue);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   702
#if DEBUG_INJECT
2037
ea0319750e13 Optionally compile with trace_printk support
Martin Troxler <ch1010277@ch10pc446>
parents: 2036
diff changeset
   703
            EC_MASTER_DBG(master, 2, "Injecting fsm datagram %p"
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   704
                    " size=%zu, queue_size=%zu\n", datagram,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   705
                    datagram->data_size, queue_size);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   706
#endif
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   707
#ifdef EC_HAVE_CYCLES
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   708
            datagram->cycles_sent = 0;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   709
#endif
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   710
            datagram->jiffies_sent = 0; // FIXME why?
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   711
            ec_master_queue_datagram(master, datagram);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   712
        } else {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   713
            if (datagram->data_size > master->max_queue_size) {
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   714
                list_del_init(&datagram->fsm_queue);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   715
                datagram->state = EC_DATAGRAM_ERROR;
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   716
                EC_MASTER_ERR(master, "Fsm datagram %p is too large,"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   717
                        " size=%zu, max_queue_size=%zu\n",
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   718
                        datagram, datagram->data_size,
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   719
                        master->max_queue_size);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   720
            } else {
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   721
#ifdef EC_HAVE_CYCLES
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   722
                cycles_t cycles_now = get_cycles();
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   723
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   724
                if (cycles_now - datagram->cycles_sent
2022
393e7aef6706 renamed ext_injection_timeout -> fsm_injection_timeout
Martin Troxler <ch1010277@ch10pc446>
parents: 2021
diff changeset
   725
                        > fsm_injection_timeout_cycles)
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   726
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   727
                if (jiffies - datagram->jiffies_sent
2022
393e7aef6706 renamed ext_injection_timeout -> fsm_injection_timeout
Martin Troxler <ch1010277@ch10pc446>
parents: 2021
diff changeset
   728
                        > fsm_injection_timeout_jiffies)
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   729
#endif
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   730
                {
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   731
                    unsigned int time_us;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   732
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   733
                    list_del_init(&datagram->fsm_queue);
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   734
                    datagram->state = EC_DATAGRAM_ERROR;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   735
#ifdef EC_HAVE_CYCLES
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   736
                    time_us = (unsigned int)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   737
                        ((cycles_now - datagram->cycles_sent) * 1000LL)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   738
                        / cpu_khz;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   739
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   740
                    time_us = (unsigned int)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   741
                        ((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   742
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   743
                    EC_MASTER_ERR(master, "Timeout %u us: Injecting"
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   744
                            " fsm datagram %p size=%zu,"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   745
                            " max_queue_size=%zu\n", time_us, datagram,
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   746
                            datagram->data_size, master->max_queue_size);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   747
                }
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   748
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   749
                else {
2037
ea0319750e13 Optionally compile with trace_printk support
Martin Troxler <ch1010277@ch10pc446>
parents: 2036
diff changeset
   750
                    EC_MASTER_DBG(master, 2, "Deferred injecting"
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   751
                            " of fsm datagram %p"
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   752
                            " size=%zu, queue_size=%zu\n",
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   753
                            datagram, datagram->data_size, queue_size);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   754
                }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   755
#endif
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   756
            }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   757
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   758
    }
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   759
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   760
unlock:
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   761
    ec_mutex_unlock(&master->fsm_queue_mutex);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   762
unlock_cb:
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   763
    if (master->fsm_queue_unlock_cb) {
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   764
        master->fsm_queue_unlock_cb(master->fsm_queue_locking_data);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   765
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   766
}
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   767
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   768
/*****************************************************************************/
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   769
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   770
/** Sets the expected interval between calls to ecrt_master_send
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   771
 * and calculates the maximum amount of data to queue.
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   772
 */
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   773
void ec_master_set_send_interval(
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   774
        ec_master_t *master, /**< EtherCAT master */
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   775
        unsigned int send_interval /**< Send interval */
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   776
        )
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   777
{
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   778
    master->send_interval = send_interval;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   779
    master->max_queue_size =
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   780
        (send_interval * 1000) / EC_BYTE_TRANSMISSION_TIME_NS;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   781
    master->max_queue_size -= master->max_queue_size / 10;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   782
}
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   783
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   784
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   785
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   786
/** Places an request (SDO/FoE/SoE/EoE) fsm datagram in the sdo datagram
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   787
 * queue.
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   788
 */
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   789
void ec_master_queue_request_fsm_datagram(
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   790
        ec_master_t *master, /**< EtherCAT master */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   791
        ec_datagram_t *datagram /**< datagram */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   792
        )
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   793
{
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   794
    ec_master_queue_fsm_datagram(master, datagram);
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   795
    master->fsm.idle = 0; // pump the bus as fast as possible
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   796
}
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   797
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   798
/*****************************************************************************/
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   799
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   800
/** Places an fsm datagram in the sdo datagram queue.
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   801
 */
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   802
void ec_master_queue_fsm_datagram(
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   803
        ec_master_t *master, /**< EtherCAT master */
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   804
        ec_datagram_t *datagram /**< datagram */
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   805
        )
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   806
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   807
    ec_datagram_t *queued_datagram;
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
   808
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   809
    if (master->fsm_queue_lock_cb) {
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   810
        master->fsm_queue_lock_cb(master->fsm_queue_locking_data);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   811
    }
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   812
    ec_mutex_lock(&master->fsm_queue_mutex);
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   813
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   814
    // check, if the datagram is already queued
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   815
    list_for_each_entry(queued_datagram, &master->fsm_datagram_queue,
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   816
            fsm_queue) {
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   817
        if (queued_datagram == datagram) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   818
            datagram->state = EC_DATAGRAM_QUEUED;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   819
            goto unlock;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   820
        }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   821
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   822
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   823
#if DEBUG_INJECT
2037
ea0319750e13 Optionally compile with trace_printk support
Martin Troxler <ch1010277@ch10pc446>
parents: 2036
diff changeset
   824
    EC_MASTER_DBG(master, 2, "Requesting fsm datagram %p size=%zu\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   825
            datagram, datagram->data_size);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   826
#endif
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   827
2038
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head
Martin Troxler <ch1010277@ch10pc446>
parents: 2037
diff changeset
   828
    list_add_tail(&datagram->fsm_queue, &master->fsm_datagram_queue);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   829
    datagram->state = EC_DATAGRAM_QUEUED;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   830
#ifdef EC_HAVE_CYCLES
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   831
    datagram->cycles_sent = get_cycles();
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   832
#endif
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   833
    datagram->jiffies_sent = jiffies; // FIXME why?
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   834
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   835
unlock:
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   836
    ec_mutex_unlock(&master->fsm_queue_mutex);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   837
    if (master->fsm_queue_unlock_cb) {
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
   838
        master->fsm_queue_unlock_cb(master->fsm_queue_locking_data);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   839
    }
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   840
}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   841
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   842
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   843
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   844
/** Places a datagram in the datagram queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   845
 */
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   846
void ec_master_queue_datagram(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   847
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   848
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   849
        )
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   850
{
2084
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   851
    ec_datagram_t *queued_datagram;
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   852
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   853
    /* It is possible, that a datagram in the queue is re-initialized with the
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   854
     * ec_datagram_<type>() methods and then shall be queued with this method.
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   855
     * In that case, the state is already reset to EC_DATAGRAM_INIT. Check if
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   856
     * the datagram is queued to avoid duplicate queuing (which results in an
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   857
     * infinite loop!). Set the state to EC_DATAGRAM_QUEUED again, probably
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   858
     * causing an unmatched datagram. */
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   859
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   860
        if (queued_datagram == datagram) {
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   861
            datagram->skip_count++;
2095
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   862
            if (master->debug_level) {
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   863
                EC_MASTER_DBG(master, 1, "Skipping datagram %p (", datagram);
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   864
                ec_datagram_output_info(datagram);
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   865
                printk(")\n");
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   866
            }
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   867
            goto queued;
2084
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   868
        }
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   869
    }
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   870
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   871
    list_add_tail(&datagram->queue, &master->datagram_queue);
2095
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   872
queued:
2084
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   873
    datagram->state = EC_DATAGRAM_QUEUED;
eefccfa312ef Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2080
diff changeset
   874
}
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   875
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   876
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   877
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   878
/** Sends the datagrams in the queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   879
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   880
 */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   881
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   882
{
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   883
    ec_datagram_t *datagram, *next;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   884
    size_t datagram_size;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   885
    uint8_t *frame_data, *cur_data, *frame_datagram_data;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   886
    void *follows_word;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   887
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   888
    cycles_t cycles_start, cycles_sent, cycles_end;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   889
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   890
    unsigned long jiffies_sent;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   891
    unsigned int frame_count, more_datagrams_waiting;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   892
    struct list_head sent_datagrams;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   893
    ec_fmmu_config_t* domain_fmmu;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   894
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   895
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   896
    cycles_start = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   897
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   898
    frame_count = 0;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   899
    INIT_LIST_HEAD(&sent_datagrams);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   900
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   901
    EC_MASTER_DBG(master, 2, "ec_master_send_datagrams\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   902
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   903
    do {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   904
        // fetch pointer to transmit socket buffer
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   905
        frame_data = ec_device_tx_data(&master->main_device);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   906
        cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   907
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   908
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   909
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   910
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   911
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   912
            if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   913
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   914
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   915
            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   916
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   917
            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   918
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   919
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   920
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   921
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   922
            list_add_tail(&datagram->sent, &sent_datagrams);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   923
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   924
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   925
            EC_MASTER_DBG(master, 2, "Adding datagram %p i=0x%02X size=%zu\n",
2095
53b5128e1313 Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   926
                    datagram, datagram->index, datagram_size);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   927
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   928
            // set "datagram following" flag in previous frame
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   929
            if (follows_word) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   930
                EC_WRITE_U16(follows_word,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   931
                        EC_READ_U16(follows_word) | 0x8000);
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   932
            }
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   933
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   934
            // EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   935
            EC_WRITE_U8 (cur_data,     datagram->type);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   936
            EC_WRITE_U8 (cur_data + 1, datagram->index);
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 697
diff changeset
   937
            memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   938
            EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   939
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   940
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   941
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   942
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   943
            // EtherCAT datagram data
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   944
            frame_datagram_data = cur_data;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   945
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   946
            // distinguish between domain and non-domain datagrams...
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   947
            // this is not nice... FIXME
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   948
            if (datagram->domain) {
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   949
                unsigned int datagram_address =
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   950
                    EC_READ_U32(datagram->address);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   951
                int i = 0;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   952
                uint8_t *domain_data = datagram->data;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   953
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   954
                // FIXME all FMMU configs are taken into acount,
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   955
                // maybe the belong to another datagram?
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   956
                // test with large process data!
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   957
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   958
                list_for_each_entry(domain_fmmu,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   959
                        &datagram->domain->fmmu_configs, list) {
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   960
                    if (domain_fmmu->dir == EC_DIR_OUTPUT) {
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   961
                        unsigned int frame_offset =
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   962
                            domain_fmmu->logical_start_address
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   963
                            - datagram_address;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   964
                        memcpy(frame_datagram_data + frame_offset,
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   965
                                domain_data, domain_fmmu->data_size);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   966
                        if (unlikely(master->debug_level > 1)) {
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   967
                            EC_MASTER_DBG(master, 0, "Sending datagram %p"
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   968
                                    " i=0x%02X FMMU %u fp=%u"
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   969
                                    " dp=%zu size=%u\n",
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   970
                                   datagram, datagram->index, i, frame_offset,
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   971
                                   domain_data - datagram->data,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   972
                                   domain_fmmu->data_size);
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   973
                            ec_print_data(domain_data,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   974
                                    domain_fmmu->data_size);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   975
                        }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   976
                    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   977
                    domain_data += domain_fmmu->data_size;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
   978
                    i++;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   979
                }
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   980
            } else {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   981
                memcpy(frame_datagram_data, datagram->data,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
   982
                        datagram->data_size);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
   983
            }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   984
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   985
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   986
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   987
            EC_WRITE_U16(cur_data, 0x0000); // reset working counter
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   988
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   989
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   990
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   991
        if (list_empty(&sent_datagrams)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   992
            EC_MASTER_DBG(master, 2, "nothing to send.\n");
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   993
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   994
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   995
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   996
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   997
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   998
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   999
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1000
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
  1001
        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1002
            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
  1003
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1004
        EC_MASTER_DBG(master, 2, "frame size: %zu\n", cur_data - frame_data);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1005
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1006
        // send frame
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1007
        ec_device_send(&master->main_device, cur_data - frame_data);
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1008
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1009
        cycles_sent = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1010
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1011
        jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1012
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1013
        // set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1014
        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1015
            datagram->state = EC_DATAGRAM_SENT;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1016
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1017
            datagram->cycles_sent = cycles_sent;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1018
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1019
            datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1020
            list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1021
        }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1022
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1023
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1024
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1025
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1026
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1027
#ifdef EC_HAVE_CYCLES
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1028
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1029
        cycles_end = get_cycles();
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1030
        EC_MASTER_DBG(master, 0, "ec_master_send_datagrams"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1031
                " sent %u frames in %uus.\n", frame_count,
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1032
               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1033
    }
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1034
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1035
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1036
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1037
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1038
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1039
/** Processes a received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1040
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1041
 * This function is called by the network driver for every received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1042
 * 
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1043
 * \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1044
 */
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1045
void ec_master_receive_datagrams(
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1046
        ec_master_t *master, /**< EtherCAT master */
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1047
        const uint8_t *frame_data, /**< Frame data */
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1048
        size_t size /**< Size of the received data */
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1049
        )
98
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
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1052
    uint8_t datagram_type, datagram_index;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1053
    unsigned int datagram_follows, matched;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1054
    const uint8_t *cur_data, *frame_datagram_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1055
    ec_datagram_t *datagram;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1056
    ec_fmmu_config_t* domain_fmmu;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1057
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1058
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1059
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1060
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1061
                    " (size %zu < %u byte):\n",
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1062
                    size, EC_FRAME_HEADER_SIZE);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1063
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1064
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1065
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1066
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1067
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1068
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1069
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1070
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1071
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1072
    // check length of entire frame
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1073
    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
  1074
    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
  1075
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1076
    if (unlikely(frame_size > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1077
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1078
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1079
                    " (invalid frame size %zu for "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1080
                    "received size %zu):\n", frame_size, size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1081
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1082
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1083
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1084
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1085
        return;
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
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1088
    datagram_follows = 1;
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1089
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1090
    while (datagram_follows) {
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1091
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1092
        // process datagram header
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1093
        datagram_type = EC_READ_U8(cur_data);
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1094
        datagram_index = EC_READ_U8(cur_data + 1);
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1095
        data_size = EC_READ_U16(cur_data + 6) & 0x07FF;
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1096
        datagram_follows = EC_READ_U16(cur_data + 6) & 0x8000;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1097
        cur_data += EC_DATAGRAM_HEADER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1098
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1099
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1100
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1101
            if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1102
                EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1103
                        " (invalid data size %zu):\n", data_size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1104
                ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1105
            }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1106
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1107
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1108
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1109
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1110
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1111
        // search for matching datagram in the queue
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1112
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1113
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
690
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
  1114
            if (datagram->index == datagram_index
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
  1115
                && datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1116
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1117
                && datagram->data_size == data_size) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1118
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1119
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1120
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1121
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1122
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1123
        // no matching datagram was found
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1124
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1125
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1126
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1127
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1128
            if (unlikely(master->debug_level > 0)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1129
                EC_MASTER_DBG(master, 0, "UNMATCHED datagram:\n");
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1130
                ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1131
                        EC_DATAGRAM_HEADER_SIZE + data_size
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1132
                        + EC_DATAGRAM_FOOTER_SIZE);
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1133
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1134
                ec_device_debug_ring_print(&master->main_device);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1135
#endif
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1136
            }
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1137
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1138
            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1139
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1140
        }
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1141
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1142
        frame_datagram_data = cur_data;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1143
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1144
        // distinguish between domain and non-domain datagrams
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1145
        // this is not nice FIXME
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1146
        if (datagram->domain) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1147
            size_t datagram_address = EC_READ_U32(datagram->address);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1148
            int i = 0;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1149
            uint8_t *domain_data = datagram->data;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1150
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1151
            // FIXME see ecrt_master_send_datagrams()
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1152
            // it is not correct to walk though *all* FMMU configs,
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1153
            // because they may not all belong to the same frame!
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1154
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1155
            list_for_each_entry(domain_fmmu, &datagram->domain->fmmu_configs,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1156
                    list) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1157
                if (domain_fmmu->dir == EC_DIR_INPUT) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1158
                    unsigned int frame_offset =
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1159
                        domain_fmmu->logical_start_address - datagram_address;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1160
                    memcpy(domain_data, frame_datagram_data + frame_offset,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1161
                            domain_fmmu->data_size);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1162
                    if (unlikely(master->debug_level > 1)) {
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1163
                        EC_MASTER_DBG(master, 0, "Receiving datagram %p"
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1164
                                " i=0x%02X fmmu %u fp=%u"
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1165
                                " dp=%zu size=%u\n",
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1166
                               datagram, datagram->index, i,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1167
                               frame_offset, domain_data - datagram->data,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1168
                               domain_fmmu->data_size);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1169
                        ec_print_data(domain_data, domain_fmmu->data_size);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1170
                    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1171
                }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1172
                domain_data += domain_fmmu->data_size;
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1173
                i++;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1174
            }
2116
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1175
        } else if (datagram->type != EC_DATAGRAM_APWR &&
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1176
                datagram->type != EC_DATAGRAM_FPWR &&
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1177
                datagram->type != EC_DATAGRAM_BWR &&
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1178
                datagram->type != EC_DATAGRAM_LWR) {
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1179
            // copy received data into the datagram memory,
1448a40b5af5 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2110
diff changeset
  1180
            // if something has been read
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1181
            memcpy(datagram->data, frame_datagram_data, data_size);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  1182
        }
2103
8c63d804ead9 Fixed spacing and added some thoughts about the overlapping PDOs
Florian Pose <fp@igh-essen.com>
parents: 2095
diff changeset
  1183
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1184
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1185
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1186
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1187
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1188
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1189
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1190
        // dequeue the received datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1191
        datagram->state = EC_DATAGRAM_RECEIVED;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1192
#ifdef EC_HAVE_CYCLES
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1193
        datagram->cycles_received = master->main_device.cycles_poll;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1194
#endif
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1195
        datagram->jiffies_received = master->main_device.jiffies_poll;
2037
ea0319750e13 Optionally compile with trace_printk support
Martin Troxler <ch1010277@ch10pc446>
parents: 2036
diff changeset
  1196
        EC_MASTER_DBG(master, 2, "removing datagram %p i=0x%02X\n",datagram,
ea0319750e13 Optionally compile with trace_printk support
Martin Troxler <ch1010277@ch10pc446>
parents: 2036
diff changeset
  1197
                datagram->index);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1198
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1199
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1200
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1201
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1202
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1203
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1204
/** Output master statistics.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1205
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1206
 * This function outputs statistical data on demand, but not more often than
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1207
 * necessary. The output happens at most once a second.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1208
 */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1209
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1210
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1211
    if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1212
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1213
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1214
        if (master->stats.timeouts) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1215
            EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1216
                    master->stats.timeouts,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1217
                    master->stats.timeouts == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1218
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1219
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1220
        if (master->stats.corrupted) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1221
            EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1222
                    master->stats.corrupted,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1223
                    master->stats.corrupted == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1224
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1225
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1226
        if (master->stats.unmatched) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1227
            EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1228
                    master->stats.unmatched,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1229
                    master->stats.unmatched == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1230
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1231
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1232
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1233
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1234
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1235
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1236
/*****************************************************************************/
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1237
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1238
#ifdef EC_USE_HRTIMER
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1239
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1240
/*
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1241
 * Sleep related functions:
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1242
 */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1243
static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1244
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1245
    struct hrtimer_sleeper *t =
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1246
        container_of(timer, struct hrtimer_sleeper, timer);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1247
    struct task_struct *task = t->task;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1248
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1249
    t->task = NULL;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1250
    if (task)
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1251
        wake_up_process(task);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1252
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1253
    return HRTIMER_NORESTART;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1254
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1255
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1256
/*****************************************************************************/
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1257
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1258
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1259
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1260
/* compatibility with new hrtimer interface */
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1261
static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer)
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1262
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1263
    return timer->expires;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1264
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1265
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1266
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1267
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1268
static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time)
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1269
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1270
    timer->expires = time;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1271
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1272
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1273
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1274
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1275
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1276
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1277
void ec_master_nanosleep(const unsigned long nsecs)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1278
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1279
    struct hrtimer_sleeper t;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1280
    enum hrtimer_mode mode = HRTIMER_MODE_REL;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1281
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1282
    hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1283
    t.timer.function = ec_master_nanosleep_wakeup;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1284
    t.task = current;
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1285
#ifdef CONFIG_HIGH_RES_TIMERS
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1286
#if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1287
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART;
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1288
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1289
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ;
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1290
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1291
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1292
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1293
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1294
    hrtimer_set_expires(&t.timer, ktime_set(0, nsecs));
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1295
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1296
    do {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1297
        set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1298
        hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1299
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1300
        if (likely(t.task))
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1301
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1302
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1303
        hrtimer_cancel(&t.timer);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1304
        mode = HRTIMER_MODE_ABS;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1305
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1306
    } while (t.task && !signal_pending(current));
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1307
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1308
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1309
#endif // EC_USE_HRTIMER
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1310
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1311
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1312
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1313
/** Master kernel thread function for IDLE phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1314
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1315
static int ec_master_idle_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1316
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1317
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1318
    ec_slave_t *slave = NULL;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1319
    size_t sent_bytes;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1320
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1321
    // send interval in IDLE phase
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1322
    ec_master_set_send_interval(master, 1000000 / HZ); 
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1323
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1324
    EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1325
            " max data size=%zu\n", master->send_interval,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1326
            master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1327
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1328
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1329
        ec_datagram_output_stats(&master->fsm_datagram);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1330
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1331
        // receive
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1332
        ec_mutex_lock(&master->io_mutex);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1333
        ecrt_master_receive(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1334
        ec_mutex_unlock(&master->io_mutex);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1335
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1336
        // execute master & slave state machines
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1337
        if (ec_mutex_lock_interruptible(&master->master_mutex)) {
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1338
            break;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1339
        }
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1340
        if (ec_fsm_master_exec(&master->fsm)) {
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2040
diff changeset
  1341
            ec_master_mbox_queue_datagrams(master, &master->fsm_mbox);
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1342
        }
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1343
        for (slave = master->slaves;
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1344
                slave < master->slaves + master->slave_count;
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1345
                slave++) {
2039
629d3cf05180 Minor changes (consistent variable naming)
Martin Troxler <ch1010277@ch10pc446>
parents: 2038
diff changeset
  1346
            ec_fsm_slave_exec(&slave->fsm); // may queue datagram in fsm queue
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1347
        }
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1348
#if defined(EC_EOE)
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1349
        if (!ec_master_eoe_processing(master)) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1350
            master->fsm.idle = 0; // pump the bus as fast as possible
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1351
        }
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1352
#endif
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1353
        ec_mutex_unlock(&master->master_mutex);
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1354
2017
4b16e2dce5fb Increment injection_seq on slave state changes
Martin Troxler <ch1010277@ch10pc446>
parents: 2016
diff changeset
  1355
        // queue and send
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1356
        ec_mutex_lock(&master->io_mutex);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1357
        ecrt_master_send(master);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1358
        sent_bytes = master->main_device.tx_skb[
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1359
            master->main_device.tx_ring_index]->len;
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1360
        ec_mutex_unlock(&master->io_mutex);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1361
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1362
        if (ec_fsm_master_idle(&master->fsm)) {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1363
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1364
            ec_master_nanosleep(master->send_interval * 1000);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1365
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1366
            set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1367
            schedule_timeout(1);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1368
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1369
        } else {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1370
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1371
            ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1372
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1373
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1374
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1375
        }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1376
    }
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
  1377
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1378
    EC_MASTER_DBG(master, 1, "Master IDLE thread exiting...\n");
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1379
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1380
    return 0;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1381
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1382
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1383
/*****************************************************************************/
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1384
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1385
/** Master kernel thread function for OPERATION phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1386
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1387
static int ec_master_operation_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1388
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1389
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1390
    ec_slave_t *slave = NULL;
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1391
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1392
    EC_MASTER_DBG(master, 1, "Operation thread running"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1393
            " with fsm interval = %u us, max data size=%zu\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1394
            master->send_interval, master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1395
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1396
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1397
        ec_datagram_output_stats(&master->fsm_datagram);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1398
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1399
        // output statistics
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1400
        ec_master_output_stats(master);
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1401
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1402
        // execute master & slave state machines
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1403
        if (ec_mutex_lock_interruptible(&master->master_mutex)) {
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1404
            break;
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1405
        }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1406
        if (ec_fsm_master_exec(&master->fsm)) {
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2040
diff changeset
  1407
            ec_master_mbox_queue_datagrams(master, &master->fsm_mbox);
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  1408
        }
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1409
        for (slave = master->slaves;
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1410
                slave < master->slaves + master->slave_count;
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1411
                slave++) {
2039
629d3cf05180 Minor changes (consistent variable naming)
Martin Troxler <ch1010277@ch10pc446>
parents: 2038
diff changeset
  1412
            ec_fsm_slave_exec(&slave->fsm); // may queue datagram in fsm queue
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  1413
        }
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1414
#if defined(EC_EOE)
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1415
        ec_master_eoe_processing(master);
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1416
#endif
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1417
        ec_mutex_unlock(&master->master_mutex);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1418
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1419
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1420
        // the op thread should not work faster than the sending RT thread
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1421
        ec_master_nanosleep(master->send_interval * 1000);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1422
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1423
        if (ec_fsm_master_idle(&master->fsm)) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1424
            set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1425
            schedule_timeout(1);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1426
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1427
        else {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1428
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1429
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1430
#endif
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1431
    }
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1432
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1433
    EC_MASTER_DBG(master, 1, "Master OP thread exiting...\n");
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1434
    return 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1435
}
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1436
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1437
/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1438
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1439
#ifdef EC_EOE
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1440
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1441
/*****************************************************************************/
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1442
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1443
/** Does the Ethernet over EtherCAT processing.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1444
 */
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1445
static int ec_master_eoe_processing(ec_master_t *master)
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1446
{
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1447
    ec_eoe_t *eoe;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1448
    unsigned int none_open, sth_to_send, all_idle;
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1449
    none_open = 1;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1450
    all_idle = 1;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1451
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1452
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1453
        if (ec_eoe_is_open(eoe)) {
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1454
            none_open = 0;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1455
            break;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1456
        }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1457
    }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1458
    if (none_open)
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1459
        return all_idle;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1460
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1461
    // actual EoE processing
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1462
    sth_to_send = 0;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1463
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1464
        ec_eoe_run(eoe);
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1465
        if (eoe->queue_datagram) {
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1466
            sth_to_send = 1;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1467
        }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1468
        if (!ec_eoe_is_idle(eoe)) {
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1469
            all_idle = 0;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1470
        }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1471
    }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1472
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1473
    if (sth_to_send) {
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1474
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1475
            ec_eoe_queue(eoe);
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1476
        }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1477
    }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1478
    return all_idle;
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1479
}
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1480
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  1481
#endif // EC_EOE
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1482
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1483
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1484
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1485
/** Detaches the slave configurations from the slaves.
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1486
 */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1487
void ec_master_detach_slave_configs(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1488
        ec_master_t *master /**< EtherCAT master. */
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1489
        )
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1490
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1491
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1492
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1493
    list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1494
        ec_slave_config_detach(sc); 
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1495
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1496
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1497
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1498
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1499
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1500
/** Attaches the slave configurations to the slaves.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1501
 */
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1502
void ec_master_attach_slave_configs(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1503
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1504
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1505
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1506
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1507
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1508
    list_for_each_entry(sc, &master->configs, list) {
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1509
        ec_slave_config_attach(sc);
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1510
    }
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1511
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1512
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1513
/*****************************************************************************/
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1514
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1515
/** Common implementation for ec_master_find_slave()
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1516
 * and ec_master_find_slave_const().
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1517
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1518
#define EC_FIND_SLAVE \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1519
    do { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1520
        if (alias) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1521
            for (; slave < master->slaves + master->slave_count; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1522
                    slave++) { \
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1906
diff changeset
  1523
                if (slave->effective_alias == alias) \
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1524
                break; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1525
            } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1526
            if (slave == master->slaves + master->slave_count) \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1527
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1528
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1529
        \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1530
        slave += position; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1531
        if (slave < master->slaves + master->slave_count) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1532
            return slave; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1533
        } else { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1534
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1535
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1536
    } while (0)
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1537
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1538
/** Finds a slave in the bus, given the alias and position.
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1539
 */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1540
ec_slave_t *ec_master_find_slave(
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1541
        ec_master_t *master, /**< EtherCAT master. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1542
        uint16_t alias, /**< Slave alias. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1543
        uint16_t position /**< Slave position. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1544
        )
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1545
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
  1546
    ec_slave_t *slave = master->slaves;
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1547
    EC_FIND_SLAVE;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1548
}
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1549
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1550
/** Finds a slave in the bus, given the alias and position.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1551
 *
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1552
 * Const version.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1553
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1554
const ec_slave_t *ec_master_find_slave_const(
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1555
        const ec_master_t *master, /**< EtherCAT master. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1556
        uint16_t alias, /**< Slave alias. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1557
        uint16_t position /**< Slave position. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1558
        )
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1559
{
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1560
    const ec_slave_t *slave = master->slaves;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1561
    EC_FIND_SLAVE;
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1562
}
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1563
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1564
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1565
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1566
/** Get the number of slave configurations provided by the application.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1567
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1568
 * \return Number of configurations.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1569
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1570
unsigned int ec_master_config_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1571
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1572
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1573
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1574
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1575
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1576
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1577
    list_for_each_entry(sc, &master->configs, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1578
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1579
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1580
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1581
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1582
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1583
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1584
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1585
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1586
/** Common implementation for ec_master_get_config()
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1587
 * and ec_master_get_config_const().
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1588
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1589
#define EC_FIND_CONFIG \
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1590
    do { \
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1591
        list_for_each_entry(sc, &master->configs, list) { \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1592
            if (pos--) \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1593
                continue; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1594
            return sc; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1595
        } \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1596
        return NULL; \
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1597
    } while (0)
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1598
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1599
/** Get a slave configuration via its position in the list.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1600
 *
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1601
 * \return Slave configuration or \a NULL.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1602
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1603
ec_slave_config_t *ec_master_get_config(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1604
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1605
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1606
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1607
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1608
    ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1609
    EC_FIND_CONFIG;
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1610
}
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1611
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1612
/** Get a slave configuration via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1613
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1614
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1615
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1616
 * \return Slave configuration or \a NULL.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1617
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1618
const ec_slave_config_t *ec_master_get_config_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1619
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1620
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1621
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1622
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1623
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1624
    EC_FIND_CONFIG;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1625
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1626
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1627
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1628
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1629
/** Get the number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1630
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1631
 * \return Number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1632
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1633
unsigned int ec_master_domain_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1634
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1635
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1636
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1637
    const ec_domain_t *domain;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1638
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1639
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1640
    list_for_each_entry(domain, &master->domains, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1641
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1642
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1643
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1644
    return count;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1645
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1646
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1647
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1648
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1649
/** Common implementation for ec_master_find_domain() and
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1650
 * ec_master_find_domain_const().
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1651
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1652
#define EC_FIND_DOMAIN \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1653
    do { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1654
        list_for_each_entry(domain, &master->domains, list) { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1655
            if (index--) \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1656
                continue; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1657
            return domain; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1658
        } \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1659
        \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1660
        return NULL; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1661
    } while (0)
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1662
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1663
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1664
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1665
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1666
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1667
ec_domain_t *ec_master_find_domain(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1668
        ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1669
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1670
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1671
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1672
    ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1673
    EC_FIND_DOMAIN;
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1674
}
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1675
2054
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1676
/** Wrapper Function for external usage
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1677
 *
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1678
 * \return Domain pointer, or \a NULL if not found.
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1679
 */
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1680
ec_domain_t *ecrt_master_find_domain(
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1681
        ec_master_t *master, /**< EtherCAT master. */
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1682
        unsigned int index /**< Domain index. */
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1683
        )
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1684
{
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1685
    return ec_master_find_domain(
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1686
        master,
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1687
        index);
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1688
}
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  1689
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1690
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1691
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1692
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1693
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1694
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1695
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1696
const ec_domain_t *ec_master_find_domain_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1697
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1698
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1699
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1700
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1701
    const ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1702
    EC_FIND_DOMAIN;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1703
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1704
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1705
/*****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1706
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1707
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1708
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1709
/** Get the number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1710
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1711
 * \return Number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1712
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1713
uint16_t ec_master_eoe_handler_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1714
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1715
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1716
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1717
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1718
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1719
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1720
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1721
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1722
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1723
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1724
    return count;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1725
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1726
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1727
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1728
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1729
/** Get an EoE handler via its position in the list.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1730
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1731
 * Const version.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1732
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1733
 * \return EoE handler pointer, or \a NULL if not found.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1734
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1735
const ec_eoe_t *ec_master_get_eoe_handler_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1736
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1737
        uint16_t index /**< EoE handler index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1738
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1739
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1740
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1741
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1742
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1743
        if (index--)
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1744
            continue;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1745
        return eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1746
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1747
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1748
    return NULL;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1749
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1750
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1751
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1752
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1753
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1754
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1755
/** Set the debug level.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1756
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1757
 * \retval       0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1758
 * \retval -EINVAL Invalid debug level.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1759
 */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1760
int ec_master_debug_level(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1761
        ec_master_t *master, /**< EtherCAT master. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1762
        unsigned int level /**< Debug level. May be 0, 1 or 2. */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1763
        )
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1764
{
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1765
    if (level > 2) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1766
        EC_MASTER_ERR(master, "Invalid debug level %u!\n", level);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1767
        return -EINVAL;
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1768
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1769
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1770
    if (level != master->debug_level) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1771
        master->debug_level = level;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1772
        EC_MASTER_INFO(master, "Master debug level set to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1773
                master->debug_level);
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1774
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1775
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1776
    return 0;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1777
}
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1778
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1779
/*****************************************************************************/
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1780
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1781
/** Finds the DC reference clock.
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1782
 */
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1783
void ec_master_find_dc_ref_clock(
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1784
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1785
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1786
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1787
    ec_slave_t *slave, *ref = NULL;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1788
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1789
    for (slave = master->slaves;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1790
            slave < master->slaves + master->slave_count;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1791
            slave++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1792
        if (slave->base_dc_supported && slave->has_dc_system_time) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1793
            ref = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1794
            break;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1795
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1796
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1797
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1798
    master->dc_ref_clock = ref;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1799
    
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1800
    // This call always succeeds, because the datagram has been pre-allocated.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1801
    ec_datagram_frmw(&master->sync_datagram,
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1802
            ref ? ref->station_address : 0xffff, 0x0910, 4);
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1803
}
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1804
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1805
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1806
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1807
/** Calculates the bus topology; recursion function.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1808
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1809
int ec_master_calc_topology_rec(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1810
        ec_master_t *master, /**< EtherCAT master. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1811
        ec_slave_t *port0_slave, /**< Slave at port 0. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1812
        unsigned int *slave_position /**< Slave position. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1813
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1814
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1815
    ec_slave_t *slave = master->slaves + *slave_position;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1816
    unsigned int i;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1817
    int ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1818
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1819
    slave->ports[0].next_slave = port0_slave;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1820
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1821
    i = 3;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1822
    while (i != 0) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1823
        if (!slave->ports[i].link.loop_closed) {
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1824
            *slave_position = *slave_position + 1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1825
            if (*slave_position < master->slave_count) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1826
                slave->ports[i].next_slave = master->slaves + *slave_position;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1827
                ret = ec_master_calc_topology_rec(master,
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1828
                        slave, slave_position);
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1829
                if (ret)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1830
                    return ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1831
            } else {
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1832
                return -1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1833
            }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1834
        }
1998
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1835
        switch (i)
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1836
        {
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1837
        case 0: i = 3; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1838
        case 1: i = 2; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1839
        case 3: i = 1; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1840
        case 2:
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1841
        default:i = 0; break;
0330fdcbdd1f Use ESC port order (0-3-1-2) for bus topology and DC delay calculation
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
  1842
        }
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1843
    }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1844
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1845
    return 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1846
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1847
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1848
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1849
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1850
/** Calculates the bus topology.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1851
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1852
void ec_master_calc_topology(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1853
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1854
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1855
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1856
    unsigned int slave_position = 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1857
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1858
    if (master->slave_count == 0)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1859
        return;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1860
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1861
    if (ec_master_calc_topology_rec(master, NULL, &slave_position))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1862
        EC_MASTER_ERR(master, "Failed to calculate bus topology.\n");
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1863
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1864
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1865
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1866
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1867
/** Calculates the bus transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1868
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1869
void ec_master_calc_transmission_delays(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1870
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1871
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1872
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1873
    ec_slave_t *slave;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1874
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1875
    for (slave = master->slaves;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1876
            slave < master->slaves + master->slave_count;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1877
            slave++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1878
        ec_slave_calc_port_delays(slave);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1879
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1880
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1881
    if (master->dc_ref_clock) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1882
        uint32_t delay = 0;
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1883
        ec_slave_calc_transmission_delays_rec(master->dc_ref_clock, &delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1884
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1885
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1886
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1887
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1888
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1889
/** Distributed-clocks calculations.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1890
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1891
void ec_master_calc_dc(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1892
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1893
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1894
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1895
    // find DC reference clock
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1896
    ec_master_find_dc_ref_clock(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1897
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1898
    // calculate bus topology
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1899
    ec_master_calc_topology(master);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1900
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1901
    ec_master_calc_transmission_delays(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1902
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1903
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1904
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1905
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1906
/** Request OP state for configured slaves.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1907
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1908
void ec_master_request_op(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1909
        ec_master_t *master /**< EtherCAT master. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1910
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1911
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1912
    unsigned int i;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1913
    ec_slave_t *slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1914
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1915
    if (!master->active)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1916
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1917
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1918
    EC_MASTER_DBG(master, 1, "Requesting OP...\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1919
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1920
    // request OP for all configured slaves
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1921
    for (i = 0; i < master->slave_count; i++) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1922
        slave = master->slaves + i;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1923
        if (slave->config) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1924
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1925
        }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1926
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1927
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1928
    // always set DC reference clock to OP
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1929
    if (master->dc_ref_clock) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1930
        ec_slave_request_state(master->dc_ref_clock,
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1931
                EC_SLAVE_STATE_OP);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1932
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1933
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  1934
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1935
/******************************************************************************
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  1936
 *  Application interface
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1937
 *****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1938
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1939
/** Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1940
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1941
ec_domain_t *ecrt_master_create_domain_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1942
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1943
        )
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1944
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1945
    ec_domain_t *domain, *last_domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1946
    unsigned int index;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1947
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1948
    EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1949
            master);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1950
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  1951
    if (!(domain =
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  1952
                (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1953
        EC_MASTER_ERR(master, "Error allocating domain memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1954
        return ERR_PTR(-ENOMEM);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1955
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1956
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1957
    ec_mutex_lock(&master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1958
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1959
    if (list_empty(&master->domains)) {
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1960
        index = 0;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1961
    } else {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1962
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1963
        index = last_domain->index + 1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1964
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1965
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1966
    ec_domain_init(domain, master, index);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1967
    list_add_tail(&domain->list, &master->domains);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1968
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1969
    ec_mutex_unlock(&master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1970
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1971
    EC_MASTER_DBG(master, 1, "Created domain %u.\n", domain->index);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1972
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1973
    return domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1974
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1975
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1976
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1977
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1978
ec_domain_t *ecrt_master_create_domain(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1979
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1980
        )
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1981
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1982
    ec_domain_t *d = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1983
    return IS_ERR(d) ? NULL : d;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1984
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1985
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1986
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1987
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1988
int ecrt_master_activate(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1989
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1990
    uint32_t domain_offset;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1991
    ec_domain_t *domain;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1992
    int ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1993
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1994
    EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1995
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1996
    if (master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1997
        EC_MASTER_WARN(master, "%s: Master already active!\n", __func__);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1998
        return 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1999
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2000
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2001
    ec_mutex_lock(&master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2002
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2003
    // finish all domains
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2004
    domain_offset = 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2005
    list_for_each_entry(domain, &master->domains, list) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2006
        ret = ec_domain_finish(domain, domain_offset);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2007
        if (ret < 0) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2008
            ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2009
            EC_MASTER_ERR(master, "Failed to finish domain 0x%p!\n", domain);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2010
            return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2011
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2012
        domain_offset += domain->data_size;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2013
    }
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2014
    
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2015
    ec_mutex_unlock(&master->master_mutex);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2016
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2017
    // restart EoE process and master thread with new locking
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2018
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2019
    ec_master_thread_stop(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2020
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2021
    EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2022
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2023
    master->injection_seq_fsm = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2024
    master->injection_seq_rt = 0;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2025
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2026
    master->fsm_queue_lock_cb = master->app_fsm_queue_lock_cb;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2027
    master->fsm_queue_unlock_cb = master->app_fsm_queue_unlock_cb;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2028
    master->fsm_queue_locking_data = master->app_fsm_queue_locking_data;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2029
    
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2030
    ret = ec_master_thread_start(master, ec_master_operation_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2031
                "EtherCAT-OP");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2032
    if (ret < 0) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2033
        EC_MASTER_ERR(master, "Failed to start master thread!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2034
        return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2035
    }
902
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  2036
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  2037
    master->allow_scan = 1; // allow re-scanning on topology change
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2038
    master->active = 1;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2039
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2040
    // notify state machine, that the configuration shall now be applied
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2041
    master->config_changed = 1;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2042
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2043
    return 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2044
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2045
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2046
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2047
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2048
void ecrt_master_deactivate(ec_master_t *master)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2049
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2050
    ec_slave_t *slave;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2051
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2052
    ec_eoe_t *eoe;
2036
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2053
    int is_eoe_slave;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2054
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2055
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
  2056
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2057
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2058
    if (!master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2059
        EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2060
        return;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2061
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2062
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2063
    ec_master_thread_stop(master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2064
    
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2065
    master->fsm_queue_lock_cb = NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2066
    master->fsm_queue_unlock_cb= NULL;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2067
    master->fsm_queue_locking_data = NULL;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2068
    
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
  2069
    ec_master_clear_config(master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2070
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2071
    for (slave = master->slaves;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2072
            slave < master->slaves + master->slave_count;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2073
            slave++) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2074
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2075
        // set state to PREOP for all but eoe slaves
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2076
#ifdef EC_EOE
2036
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2077
        is_eoe_slave = 0;
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2078
        // ... but leave EoE slaves in OP
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2079
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
2036
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2080
            if (slave == eoe->slave && ec_eoe_is_open(eoe))
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2081
                is_eoe_slave = 1;
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2082
       }
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2083
       if (!is_eoe_slave) {
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2084
           ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2085
           // mark for reconfiguration, because the master could have no
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2086
           // possibility for a reconfiguration between two sequential
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2087
           // operation phases.
2036
7fbc7bb7b95a properly deactivate slaves if there is no eoe slave
Matthias Luescher <ch1010472@ch10pc594>
parents: 2032
diff changeset
  2088
           slave->force_config = 1;
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2089
        }
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2090
#else
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2091
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2092
        // mark for reconfiguration, because the master could have no
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2093
        // possibility for a reconfiguration between two sequential operation
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2094
        // phases.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2095
        slave->force_config = 1;
2020
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2096
#endif
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2097
47db5df5c7b3 removed eoe thread: eoe processing now done by Idle/Operation thread
Martin Troxler <ch1010277@ch10pc446>
parents: 2019
diff changeset
  2098
    }
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2099
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2100
    master->app_time = 0ULL;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2101
    master->app_start_time = 0ULL;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2102
    master->has_app_time = 0;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2103
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2104
    if (ec_master_thread_start(master, ec_master_idle_thread,
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2105
                "EtherCAT-IDLE"))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2106
        EC_MASTER_WARN(master, "Failed to restart master thread!\n");
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2107
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2108
    master->allow_scan = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2109
    master->active = 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2110
}
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2111
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2112
/*****************************************************************************/
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2113
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2114
void ecrt_master_send(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2115
{
2039
629d3cf05180 Minor changes (consistent variable naming)
Martin Troxler <ch1010277@ch10pc446>
parents: 2038
diff changeset
  2116
    ec_datagram_t *datagram, *next;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2117
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
  2118
    ec_master_inject_fsm_datagrams(master);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2119
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2120
    if (unlikely(!master->main_device.link_state)) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2121
        // link is down, no datagram can be sent
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  2122
        list_for_each_entry_safe(datagram, next, &master->datagram_queue,
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2084
diff changeset
  2123
                queue) {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2124
            datagram->state = EC_DATAGRAM_ERROR;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2125
            list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2126
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2127
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2128
        // query link state
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2129
        ec_device_poll(&master->main_device);
1856
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2130
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2131
        // clear frame statistics
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2132
        ec_device_clear_stats(&master->main_device);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2133
        return;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2134
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2135
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2136
    // send frames
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  2137
    ec_master_send_datagrams(master);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2138
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2139
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2140
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2141
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2142
void ecrt_master_receive(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2143
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2144
    ec_datagram_t *datagram, *next;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2145
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2146
    // receive datagrams
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2147
    ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2148
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2149
    // dequeue all datagrams that timed out
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2150
    list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2151
        if (datagram->state != EC_DATAGRAM_SENT) continue;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2152
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2153
#ifdef EC_HAVE_CYCLES
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2154
        if (master->main_device.cycles_poll - datagram->cycles_sent
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2155
                > timeout_cycles) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2156
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2157
        if (master->main_device.jiffies_poll - datagram->jiffies_sent
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2158
                > timeout_jiffies) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2159
#endif
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2160
            list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2161
            datagram->state = EC_DATAGRAM_TIMED_OUT;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2162
            master->stats.timeouts++;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2163
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2164
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2165
            if (unlikely(master->debug_level > 0)) {
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2166
                unsigned int time_us;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2167
#ifdef EC_HAVE_CYCLES
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2168
                time_us = (unsigned int) (master->main_device.cycles_poll -
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2169
                        datagram->cycles_sent) * 1000 / cpu_khz;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2170
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2171
                time_us = (unsigned int) ((master->main_device.jiffies_poll -
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2172
                            datagram->jiffies_sent) * 1000000 / HZ);
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2173
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2174
                EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2175
                        " index %02X waited %u us.\n",
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2176
                        datagram, datagram->index, time_us);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2177
            }
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2178
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2179
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2180
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2181
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2182
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2183
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2184
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2185
/** Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2186
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2187
ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *master,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2188
        uint16_t alias, uint16_t position, uint32_t vendor_id,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2189
        uint32_t product_code)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2190
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2191
    ec_slave_config_t *sc;
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2192
    unsigned int found = 0;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2193
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2194
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2195
    EC_MASTER_DBG(master, 1, "ecrt_master_slave_config(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2196
            " alias = %u, position = %u, vendor_id = 0x%08x,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2197
            " product_code = 0x%08x)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2198
            master, alias, position, vendor_id, product_code);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2199
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2200
    list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2201
        if (sc->alias == alias && sc->position == position) {
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2202
            found = 1;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2203
            break;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2204
        }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2205
    }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2206
1024
fef0b1953770 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1023
diff changeset
  2207
    if (found) { // config with same alias/position already existing
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2208
        if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2209
            EC_MASTER_ERR(master, "Slave type mismatch. Slave was"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2210
                    " configured as 0x%08X/0x%08X before. Now configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2211
                    " with 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2212
                    vendor_id, product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2213
            return ERR_PTR(-ENOENT);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2214
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2215
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2216
        EC_MASTER_DBG(master, 1, "Creating slave configuration for %u:%u,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2217
                " 0x%08X/0x%08X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2218
                alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2219
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2220
        if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2221
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2222
            EC_MASTER_ERR(master, "Failed to allocate memory"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2223
                    " for slave configuration.\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2224
            return ERR_PTR(-ENOMEM);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2225
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2226
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
  2227
        ec_slave_config_init(sc, master,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2228
                alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2229
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2230
        ec_mutex_lock(&master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2231
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2232
        // try to find the addressed slave
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  2233
        ec_slave_config_attach(sc);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  2234
        ec_slave_config_load_default_sync_config(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2235
        list_add_tail(&sc->list, &master->configs);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2236
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2237
        ec_mutex_unlock(&master->master_mutex);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2238
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2239
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2240
    return sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2241
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2242
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2243
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2244
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2245
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2246
        uint16_t alias, uint16_t position, uint32_t vendor_id,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2247
        uint32_t product_code)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2248
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2249
    ec_slave_config_t *sc = ecrt_master_slave_config_err(master, alias,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2250
            position, vendor_id, product_code);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2251
    return IS_ERR(sc) ? NULL : sc;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2252
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2253
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2254
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2255
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2256
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2257
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2258
    EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2259
            " master_info = 0x%p)\n", master, master_info);
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2260
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2261
    master_info->slave_count = master->slave_count;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2262
    master_info->link_up = master->main_device.link_state;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2263
    master_info->scan_busy = master->scan_busy;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2264
    master_info->app_time = master->app_time;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2265
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2266
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2267
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2268
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2269
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2270
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2271
        ec_slave_info_t *slave_info)
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2272
{
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2273
    const ec_slave_t *slave;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2274
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2275
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2276
        return -EINTR;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2277
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2278
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2279
    slave = ec_master_find_slave_const(master, 0, slave_position);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2280
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2281
    slave_info->position = slave->ring_position;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2282
    slave_info->vendor_id = slave->sii.vendor_id;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2283
    slave_info->product_code = slave->sii.product_code;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2284
    slave_info->revision_number = slave->sii.revision_number;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2285
    slave_info->serial_number = slave->sii.serial_number;
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1906
diff changeset
  2286
    slave_info->alias = slave->effective_alias;
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2287
    slave_info->current_on_ebus = slave->sii.current_on_ebus;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2288
    slave_info->al_state = slave->current_state;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2289
    slave_info->error_flag = slave->error_flag;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2290
    slave_info->sync_count = slave->sii.sync_count;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2291
    slave_info->sdo_count = ec_slave_sdo_count(slave);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2292
    if (slave->sii.name) {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2293
        strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2294
    } else {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2295
        slave_info->name[0] = 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2296
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2297
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2298
    ec_mutex_unlock(&master->master_mutex);
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2299
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2300
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2301
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2302
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2303
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2304
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2305
void ecrt_master_callbacks(ec_master_t *master,
2024
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2306
                           void (*lock_cb)(void *), void (*unlock_cb)(void *),
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2307
                           void *cb_data)
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2308
{
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2309
    EC_MASTER_DBG(master, 1,"ecrt_master_callbacks(master = %p, "
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2310
                            "lock_cb = %p, unlock_cb = %p, cb_data = %p)\n",
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2311
                            master, lock_cb, unlock_cb, cb_data);
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2312
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2313
    master->app_fsm_queue_lock_cb = lock_cb;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2314
    master->app_fsm_queue_unlock_cb = unlock_cb;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2315
    master->app_fsm_queue_locking_data = cb_data;
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2316
}
96e2ae6cce95 ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents: 2022
diff changeset
  2317
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2318
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2319
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2320
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2321
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2322
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2323
    state->slaves_responding = master->fsm.slaves_responding;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1018
diff changeset
  2324
    state->al_states = master->fsm.slave_states;
1018
e068da25639d Completed master states.
Richard Hacker <ha@igh-essen.com>
parents: 1015
diff changeset
  2325
    state->link_up = master->main_device.link_state;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2326
}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2327
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2328
/*****************************************************************************/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2329
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2330
void ecrt_master_configured_slaves_state(
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2331
        const ec_master_t *master,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2332
        ec_master_state_t *state
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2333
        )
1978
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2334
{
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2335
    const ec_slave_config_t *sc;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2336
    ec_slave_config_state_t sc_state;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2337
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2338
    // collect al_states of all configured online slaves
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2339
    state->al_states = 0;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2340
    list_for_each_entry(sc, &master->configs, list) {
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2341
        ecrt_slave_config_state(sc,&sc_state);
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2342
        if (sc_state.online)
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2343
            state->al_states |= sc_state.al_state;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2344
    }
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2345
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2346
    state->slaves_responding = master->fsm.slaves_responding;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2347
    state->link_up = master->main_device.link_state;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2348
}
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2349
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2350
/*****************************************************************************/
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1856
diff changeset
  2351
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2352
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2353
{
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2354
    master->app_time = app_time;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2355
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2356
    if (unlikely(!master->has_app_time)) {
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2357
		EC_MASTER_DBG(master, 1, "Set application start time = %llu\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2358
                app_time);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2359
        master->app_start_time = app_time;
1999
5f1269a71588 use app_start_time for initial DC offset calculation because app_time might be overwritten while calculating the offsets.
Martin Troxler <ch1010277@ch10pc446>
parents: 1998
diff changeset
  2360
#ifdef EC_HAVE_CYCLES
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2361
        master->dc_cycles_app_start_time = get_cycles();
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2362
#endif
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2363
        master->dc_jiffies_app_start_time = jiffies;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2364
        master->has_app_time = 1;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2365
    }
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2366
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2367
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2368
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2369
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2370
void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2371
{
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2372
    EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2373
    ec_master_queue_datagram(master, &master->ref_sync_datagram);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2374
}
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2375
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2376
/*****************************************************************************/
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2377
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2378
void ecrt_master_sync_slave_clocks(ec_master_t *master)
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2379
{
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2380
    ec_datagram_zero(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2381
    ec_master_queue_datagram(master, &master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2382
}
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2383
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2384
/*****************************************************************************/
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2385
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2386
void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2387
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2388
    ec_datagram_zero(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2389
    ec_master_queue_datagram(master, &master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2390
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2391
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2392
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2393
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2394
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2395
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2396
    if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2397
        return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2398
    } else {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2399
        return 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2400
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2401
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2402
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2403
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2404
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2405
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2406
        uint16_t index, uint8_t subindex, uint8_t *data,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2407
        size_t data_size, uint32_t *abort_code)
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2408
{
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2409
    ec_master_sdo_request_t *request;
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2410
    int retval;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2411
2110
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2412
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2413
            " slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2414
            " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2415
            __func__, master, slave_position, index, subindex,
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2416
            data, data_size, abort_code);
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2417
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2418
    if (!data_size) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2419
        EC_MASTER_ERR(master, "Zero data size!\n");
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2420
        return -EINVAL;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2421
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2422
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2423
    request = kmalloc(sizeof(*request), GFP_KERNEL);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2424
    if (!request) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2425
        return -ENOMEM;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2426
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2427
    kref_init(&request->refcount);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2428
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2429
    ec_sdo_request_init(&request->req);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2430
    ec_sdo_request_address(&request->req, index, subindex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2431
    if (ec_sdo_request_alloc(&request->req, data_size)) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2432
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2433
        return -ENOMEM;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2434
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2435
    memcpy(request->req.data, data, data_size);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2436
    request->req.data_size = data_size;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2437
    ecrt_sdo_request_write(&request->req);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2438
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2439
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2440
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2441
        return -EINTR;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2442
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2443
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2444
    if (!(request->slave = ec_master_find_slave(
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2445
                    master, 0, slave_position))) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2446
        ec_mutex_unlock(&master->master_mutex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2447
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2448
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2449
        return -EINVAL;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2450
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2451
    
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2452
    EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2453
            request);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2454
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2455
    // schedule request
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2456
    kref_get(&request->refcount);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2457
    list_add_tail(&request->list, &request->slave->slave_sdo_requests);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2458
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2459
    ec_mutex_unlock(&master->master_mutex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2460
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2461
    // wait for processing through FSM
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2462
    if (wait_event_interruptible(request->slave->sdo_queue,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2463
       ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2464
        (request->req.state == EC_INT_REQUEST_FAILURE)))) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2465
        // interrupted by signal
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2466
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2467
        return -EINTR;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2468
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2469
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2470
    EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2471
            request);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2472
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2473
    *abort_code = request->req.abort_code;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2474
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2475
    if (request->req.state == EC_INT_REQUEST_SUCCESS) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2476
        retval = 0;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2477
    } else if (request->req.errno) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2478
        retval = -request->req.errno;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2479
    } else {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2480
        retval = -EIO;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2481
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2482
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2483
    kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2484
    return retval;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2485
}
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2486
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2487
/*****************************************************************************/
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2488
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2489
int ecrt_master_sdo_download_complete(ec_master_t *master,
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2490
        uint16_t slave_position, uint16_t index, uint8_t *data,
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2491
        size_t data_size, uint32_t *abort_code)
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2492
{
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2493
    ec_master_sdo_request_t *request;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2494
    int retval;
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2495
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2496
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2497
            " slave_position = %u, index = 0x%04X,"
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2498
            " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2499
            __func__, master, slave_position, index, data, data_size,
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2500
            abort_code);
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2501
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2502
    if (!data_size) {
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2503
        EC_MASTER_ERR(master, "Zero data size!\n");
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2504
        return -EINVAL;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2505
    }
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2506
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2507
    request = kmalloc(sizeof(*request), GFP_KERNEL);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2508
    if (!request) {
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2509
        return -ENOMEM;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2510
    }
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2511
    kref_init(&request->refcount);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2512
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2513
    ec_sdo_request_init(&request->req);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2514
    ec_sdo_request_address(&request->req, index, 0);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2515
    if (ec_sdo_request_alloc(&request->req, data_size)) {
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2516
        kref_put(&request->refcount, ec_master_sdo_request_release);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2517
        return -ENOMEM;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2518
    }
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2519
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2520
    request->req.complete_access = 1;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2521
    memcpy(request->req.data, data, data_size);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2522
    request->req.data_size = data_size;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2523
    ecrt_sdo_request_write(&request->req);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2524
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2525
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2526
        kref_put(&request->refcount, ec_master_sdo_request_release);
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2527
        return -EINTR;
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2528
    }
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2529
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2530
    if (!(request->slave = ec_master_find_slave(
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2531
                    master, 0, slave_position))) {
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2532
        ec_mutex_unlock(&master->master_mutex);
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2533
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2534
        kref_put(&request->refcount, ec_master_sdo_request_release);
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2535
        return -EINVAL;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2536
    }
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2537
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2538
    EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p"
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2539
            " (complete access).\n", request);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2540
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2541
    // schedule request
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2542
    kref_get(&request->refcount);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2543
    list_add_tail(&request->list, &request->slave->slave_sdo_requests);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2544
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2545
    ec_mutex_unlock(&master->master_mutex);
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2546
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2547
    // wait for processing through FSM
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2548
    if (wait_event_interruptible(request->slave->sdo_queue,
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2549
       ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2550
        (request->req.state == EC_INT_REQUEST_FAILURE)))) {
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2551
        // interrupted by signal
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2552
        kref_put(&request->refcount, ec_master_sdo_request_release);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2553
        return -EINTR;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2554
    }
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2555
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2556
    EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p"
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2557
            " (complete access).\n", request);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2558
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2559
    *abort_code = request->req.abort_code;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2560
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2561
    if (request->req.state == EC_INT_REQUEST_SUCCESS) {
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2562
        retval = 0;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2563
    } else if (request->req.errno) {
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2564
        retval = -request->req.errno;
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2565
    } else {
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2566
        retval = -EIO;
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2567
    }
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2568
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2569
    kref_put(&request->refcount, ec_master_sdo_request_release);
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2570
    return retval;
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2571
}
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2572
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2573
/*****************************************************************************/
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2574
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2575
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2576
        uint16_t index, uint8_t subindex, uint8_t *target,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2577
        size_t target_size, size_t *result_size, uint32_t *abort_code)
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2578
{
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2579
    ec_master_sdo_request_t *request;
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2580
    int retval;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2581
2110
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2582
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2583
            " slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2584
            " target = 0x%p, target_size = %zu, result_size = 0x%p, "
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2585
            " abort_code = 0x%p)\n",
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2586
            __func__, master, slave_position, index, subindex, target,
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2587
            target_size, result_size, abort_code);
455126b35650 Fixed compiler error; added SDO debugging.
Florian Pose <fp@igh-essen.com>
parents: 2107
diff changeset
  2588
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2589
    request = kmalloc(sizeof(*request), GFP_KERNEL);
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2590
    if (!request) {
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2591
        return -ENOMEM;
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2592
    }
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2593
    kref_init(&request->refcount);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2594
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2595
    ec_sdo_request_init(&request->req);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2596
    ec_sdo_request_address(&request->req, index, subindex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2597
    ecrt_sdo_request_read(&request->req);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2598
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2599
    if (ec_mutex_lock_interruptible(&master->master_mutex))  {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2600
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2601
        return -EINTR;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2602
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2603
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2604
    if (!(request->slave = ec_master_find_slave(
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2605
                    master, 0, slave_position))) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2606
        ec_mutex_unlock(&master->master_mutex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2607
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2608
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2609
        return -EINVAL;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2610
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2611
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2612
    EC_SLAVE_DBG(request->slave, 1, "Schedule SDO upload request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2613
            request);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2614
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2615
    // schedule request
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2616
    kref_get(&request->refcount);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2617
    list_add_tail(&request->list, &request->slave->slave_sdo_requests);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2618
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2619
    ec_mutex_unlock(&master->master_mutex);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2620
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2621
    // wait for processing through FSM
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2622
    if (wait_event_interruptible(request->slave->sdo_queue,
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2623
          ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2624
           (request->req.state == EC_INT_REQUEST_FAILURE)))) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2625
        // interrupted by signal
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2626
        kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2627
        return -EINTR;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2628
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2629
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2630
    EC_SLAVE_DBG(request->slave, 1, "Finished SDO upload request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2631
            request);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2632
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2633
    *abort_code = request->req.abort_code;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2634
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2635
    if (request->req.state != EC_INT_REQUEST_SUCCESS) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2636
        *result_size = 0;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2637
        if (request->req.errno) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2638
            retval = -request->req.errno;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2639
        } else {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2640
            retval = -EIO;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2641
        }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2642
    } else {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2643
        if (request->req.data_size > target_size) {
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2644
            EC_MASTER_ERR(master, "Buffer too small.\n");
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2645
            kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2646
            return -EOVERFLOW;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2647
        }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2648
        memcpy(target, request->req.data, request->req.data_size);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2649
        *result_size = request->req.data_size;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2650
        retval = 0;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2651
    }
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2652
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2653
    kref_put(&request->refcount, ec_master_sdo_request_release);
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2654
    return retval;
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2655
}
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2656
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2657
/*****************************************************************************/
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2658
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2659
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2660
        uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2661
        uint16_t *error_code)
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2662
{
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2663
    ec_master_soe_request_t *request;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2664
    int retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2665
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2666
    if (drive_no > 7) {
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2667
        EC_MASTER_ERR(master, "Invalid drive number!\n");
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2668
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2669
    }
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2670
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2671
    request = kmalloc(sizeof(*request), GFP_KERNEL);
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2672
    if (!request) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2673
        return -ENOMEM;
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2674
    }
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2675
    kref_init(&request->refcount);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2676
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2677
    INIT_LIST_HEAD(&request->list);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2678
    ec_soe_request_init(&request->req);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2679
    ec_soe_request_set_drive_no(&request->req, drive_no);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2680
    ec_soe_request_set_idn(&request->req, idn);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2681
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2682
    if (ec_soe_request_alloc(&request->req, data_size)) {
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2683
        ec_soe_request_clear(&request->req);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2684
        kref_put(&request->refcount,ec_master_soe_request_release);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2685
        return -ENOMEM;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2686
    }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2687
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2688
    memcpy(request->req.data, data, data_size);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2689
    request->req.data_size = data_size;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2690
    ec_soe_request_write(&request->req);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2691
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2692
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2693
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2694
        return -EINTR;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2695
    }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2696
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2697
    if (!(request->slave = ec_master_find_slave(
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2698
                    master, 0, slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2699
        ec_mutex_unlock(&master->master_mutex);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2700
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2701
                slave_position);
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2702
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2703
        return -EINVAL;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2704
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2705
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2706
    EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE write request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2707
            request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2708
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2709
    // schedule SoE write request.
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2710
    list_add_tail(&request->list, &request->slave->soe_requests);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2711
    kref_get(&request->refcount);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2712
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2713
    ec_mutex_unlock(&master->master_mutex);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2714
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2715
    // wait for processing through FSM
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2716
    if (wait_event_interruptible(request->slave->soe_queue,
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2717
          ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2718
           (request->req.state == EC_INT_REQUEST_FAILURE)))) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2719
           // interrupted by signal
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2720
           kref_put(&request->refcount,ec_master_soe_request_release);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2721
           return -EINTR;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2722
    }
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2723
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2724
    if (error_code) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2725
        *error_code = request->req.error_code;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2726
    }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2727
    retval = request->req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2728
    kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2729
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2730
    return retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2731
}
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2732
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2733
/*****************************************************************************/
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2734
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2735
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2736
        uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2737
        size_t *result_size, uint16_t *error_code)
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2738
{
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2739
    ec_master_soe_request_t *request;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2740
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2741
    if (drive_no > 7) {
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2742
        EC_MASTER_ERR(master, "Invalid drive number!\n");
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2743
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2744
    }
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2745
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2746
    request = kmalloc(sizeof(*request), GFP_KERNEL);
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2747
    if (!request) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2748
        return -ENOMEM;
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2749
    }
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2750
    kref_init(&request->refcount);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2751
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2752
    INIT_LIST_HEAD(&request->list);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2753
    ec_soe_request_init(&request->req);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2754
    ec_soe_request_set_drive_no(&request->req, drive_no);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2755
    ec_soe_request_set_idn(&request->req, idn);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2756
    ec_soe_request_read(&request->req);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2757
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2758
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2759
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2760
        return -EINTR;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2761
    }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2762
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2763
    if (!(request->slave = ec_master_find_slave(master, 0, slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2764
        ec_mutex_unlock(&master->master_mutex);
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2765
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2766
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2767
        return -EINVAL;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2768
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2769
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2770
    // schedule request.
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2771
    list_add_tail(&request->list, &request->slave->soe_requests);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2772
    kref_get(&request->refcount);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2773
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  2774
    ec_mutex_unlock(&master->master_mutex);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2775
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2776
    EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE read request %p.\n",
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2777
            request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2778
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2779
    // wait for processing through FSM
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2780
    if (wait_event_interruptible(request->slave->soe_queue,
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2781
          ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2782
           (request->req.state == EC_INT_REQUEST_FAILURE)))) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2783
           // interrupted by signal
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2784
           kref_put(&request->refcount,ec_master_soe_request_release);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2785
           return -EINTR;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2786
    }
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2787
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2788
    if (error_code) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2789
        *error_code = request->req.error_code;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2790
    }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2791
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2792
    EC_SLAVE_DBG(request->slave, 1, "SoE request %p read %zd bytes"
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2793
            " via SoE.\n", request, request->req.data_size);
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2794
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2795
    if (request->req.state != EC_INT_REQUEST_SUCCESS) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2796
        if (result_size) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2797
            *result_size = 0;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2798
        }
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2799
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2800
        return -EIO;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2801
    } else {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2802
        if (request->req.data_size > target_size) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2803
            EC_MASTER_ERR(master, "Buffer too small.\n");
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2804
            kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2805
            return -EOVERFLOW;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2806
        }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2807
        if (result_size) {
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2808
            *result_size = request->req.data_size;
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2809
        }
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2810
        memcpy(target, request->req.data, request->req.data_size);
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
  2811
        kref_put(&request->refcount,ec_master_soe_request_release);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2812
        return 0;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2813
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2814
}
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2815
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2816
/*****************************************************************************/
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2817
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2818
void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2819
{
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2820
    ec_slave_config_t *sc;
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2821
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2822
    list_for_each_entry(sc, &master->configs, list) {
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2823
        if (sc->slave) {
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2824
            ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2825
        }
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2826
    }
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2827
}
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2828
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2829
/*****************************************************************************/
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2830
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2831
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2832
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2833
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2834
EXPORT_SYMBOL(ecrt_master_activate);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2835
EXPORT_SYMBOL(ecrt_master_deactivate);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  2836
EXPORT_SYMBOL(ecrt_master_send);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  2837
EXPORT_SYMBOL(ecrt_master_receive);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  2838
EXPORT_SYMBOL(ecrt_master_callbacks);
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2839
EXPORT_SYMBOL(ecrt_master);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2840
EXPORT_SYMBOL(ecrt_master_get_slave);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2841
EXPORT_SYMBOL(ecrt_master_slave_config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2842
EXPORT_SYMBOL(ecrt_master_state);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2843
EXPORT_SYMBOL(ecrt_master_application_time);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2844
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2845
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2846
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2847
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2848
EXPORT_SYMBOL(ecrt_master_sdo_download);
2150
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2117
diff changeset
  2849
EXPORT_SYMBOL(ecrt_master_sdo_download_complete);
2107
ebda087981e1 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel
Florian Pose <fp@igh-essen.com>
parents: 2103
diff changeset
  2850
EXPORT_SYMBOL(ecrt_master_sdo_upload);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2851
EXPORT_SYMBOL(ecrt_master_write_idn);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2852
EXPORT_SYMBOL(ecrt_master_read_idn);
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  2853
EXPORT_SYMBOL(ecrt_master_reset);
2054
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 2009
diff changeset
  2854
EXPORT_SYMBOL(ecrt_master_find_domain);
2164
cf4db3c282d2 Fixed compiler error in master.c; thanks to Jun Yuan.
Florian Pose <fp@igh-essen.com>
parents: 2150
diff changeset
  2855
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2856
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2857
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2858
/*****************************************************************************/