master/master.c
author Florian Pose <fp@igh-essen.com>
Thu, 28 Sep 2006 13:24:44 +0000
changeset 383 30ae9db75fea
parent 382 72500991bcc3
child 396 189909f92019
permissions -rw-r--r--
No bus time measuring on device registration.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master 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 "../include/ecrt.h"
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#include "globals.h"
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#include "master.h"
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#include "slave.h"
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#include "device.h"
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#include "datagram.h"
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#include "ethernet.h"
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/*****************************************************************************/
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void ec_master_sync_io(ec_master_t *);
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void ec_master_idle_run(void *);
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void ec_master_eoe_run(unsigned long);
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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
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                                  const char *, size_t);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);
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EC_SYSFS_READ_WRITE_ATTR(debug_level);
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static struct attribute *ec_def_attrs[] = {
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    &attr_info,
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    &attr_eeprom_write_enable,
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    &attr_debug_level,
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    NULL,
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};
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static struct sysfs_ops ec_sysfs_ops = {
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    .show = &ec_show_master_attribute,
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    .store = ec_store_master_attribute
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};
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static struct kobj_type ktype_ec_master = {
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    .release = ec_master_clear,
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    .sysfs_ops = &ec_sysfs_ops,
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    .default_attrs = ec_def_attrs
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};
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/** \endcond */
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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 */
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                   unsigned int index, /**< master index */
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                   unsigned int eoeif_count, /**< number of EoE interfaces */
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                   dev_t dev_num /**< number for XML cdev's */
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                   )
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{
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    ec_eoe_t *eoe, *next_eoe;
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    unsigned int i;
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    EC_INFO("Initializing master %i.\n", index);
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    master->index = index;
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    master->device = NULL;
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    init_MUTEX(&master->device_sem);
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    atomic_set(&master->available, 1);
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    INIT_LIST_HEAD(&master->slaves);
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    INIT_LIST_HEAD(&master->datagram_queue);
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    INIT_LIST_HEAD(&master->domains);
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    INIT_LIST_HEAD(&master->eoe_handlers);
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    INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);
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    init_timer(&master->eoe_timer);
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    master->eoe_timer.function = ec_master_eoe_run;
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    master->eoe_timer.data = (unsigned long) master;
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    master->internal_lock = SPIN_LOCK_UNLOCKED;
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    master->eoe_running = 0;
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    master->eoe_checked = 0;
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    for (i = 0; i < HZ; i++) {
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        master->idle_cycle_times[i] = 0;
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        master->eoe_cycle_times[i] = 0;
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    }
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    master->idle_cycle_time_pos = 0;
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   130
    master->eoe_cycle_time_pos = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   131
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   132
    // create workqueue
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   133
    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   134
        EC_ERR("Failed to create master workqueue.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   135
        goto out_return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   136
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   137
361
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   138
    // init XML character device
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   139
    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   140
        EC_ERR("Failed to init XML character device.\n");
29af81543ce1 Introduced per-master character devices for XML descriptions.
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parents: 356
diff changeset
   141
        goto out_clear_wq;
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   142
    }
29af81543ce1 Introduced per-master character devices for XML descriptions.
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parents: 356
diff changeset
   143
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   144
    // create EoE handlers
321
64e20e6e9d0b Renamed master parameter ec_eoe_devices to ec_eoeif_count.
Florian Pose <fp@igh-essen.com>
parents: 318
diff changeset
   145
    for (i = 0; i < eoeif_count; i++) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   146
        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   147
            EC_ERR("Failed to allocate EoE-Object.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   148
            goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   149
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   150
        if (ec_eoe_init(eoe)) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   151
            kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   152
            goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   153
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   154
        list_add_tail(&eoe->list, &master->eoe_handlers);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   155
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   156
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   157
    // create state machine object
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   158
    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   159
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   160
    // init kobject and add it to the hierarchy
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents: 176
diff changeset
   161
    memset(&master->kobj, 0x00, sizeof(struct kobject));
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   162
    kobject_init(&master->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   163
    master->kobj.ktype = &ktype_ec_master;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   164
    if (kobject_set_name(&master->kobj, "ethercat%i", index)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   165
        EC_ERR("Failed to set kobj name.\n");
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   166
        kobject_put(&master->kobj);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   167
        return -1;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   168
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   169
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   170
    ec_master_reset(master);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   171
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   172
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   173
 out_clear_eoe:
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   174
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   175
        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
   176
        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
   177
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   178
    }
361
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   179
    ec_xmldev_clear(&master->xmldev);
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   180
 out_clear_wq:
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   181
    destroy_workqueue(master->workqueue);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   182
 out_return:
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   183
    return -1;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 35
diff changeset
   186
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   189
   Master destructor.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   190
   Removes all pending datagrams, clears the slave list, clears all domains
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   191
   and frees the device.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   192
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   193
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   194
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   195
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   196
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   197
    ec_eoe_t *eoe, *next_eoe;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   198
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   199
    EC_INFO("Clearing master %i...\n", master->index);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   200
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   201
    ec_master_reset(master);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   202
    ec_fsm_clear(&master->fsm);
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   203
    destroy_workqueue(master->workqueue);
361
29af81543ce1 Introduced per-master character devices for XML descriptions.
Florian Pose <fp@igh-essen.com>
parents: 356
diff changeset
   204
    ec_xmldev_clear(&master->xmldev);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   205
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   206
    // clear EoE objects
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   207
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   208
        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
   209
        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
   210
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   211
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   212
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   213
    if (master->device) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   214
        ec_device_clear(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   215
        kfree(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   216
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   217
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   218
    EC_INFO("Master %i cleared.\n", master->index);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   219
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   220
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   221
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   222
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   223
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   224
   Resets the master.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   225
   Note: This function has to be called, everytime ec_master_release() is
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   226
   called, to free the slave list, domains etc.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   227
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   228
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   229
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
56
36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt.
Florian Pose <fp@igh-essen.com>
parents: 55
diff changeset
   230
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   231
    ec_datagram_t *datagram, *next_c;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   232
    ec_domain_t *domain, *next_d;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   233
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   234
    ec_master_eoe_stop(master);
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   235
    ec_master_idle_stop(master);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   236
    ec_master_clear_slaves(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   237
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   238
    // empty datagram queue
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   239
    list_for_each_entry_safe(datagram, next_c,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   240
                             &master->datagram_queue, queue) {
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
   241
        datagram->state = EC_DATAGRAM_ERROR;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   242
        list_del_init(&datagram->queue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   243
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   244
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   245
    // clear domains
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   246
    list_for_each_entry_safe(domain, next_d, &master->domains, list) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   247
        list_del(&domain->list);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   248
        kobject_del(&domain->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   249
        kobject_put(&domain->kobj);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   250
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   251
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   252
    master->datagram_index = 0;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   253
    master->debug_level = 0;
130
69c2645300ee Watch-Kommando
Florian Pose <fp@igh-essen.com>
parents: 129
diff changeset
   254
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   255
    master->stats.timeouts = 0;
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   256
    master->stats.corrupted = 0;
332
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   257
    master->stats.skipped = 0;
98
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   258
    master->stats.unmatched = 0;
344
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   259
    master->stats.output_jiffies = 0;
191
ca805255a935 Prepared Free-Run mode
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   260
305
03aab3068f08 Renamed IDLE mode to ORPHANED mode.
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   261
    master->mode = EC_MASTER_MODE_ORPHANED;
204
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   262
5ab50514d9b2 Locking callback interface.
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   263
    master->request_cb = NULL;
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diff changeset
   264
    master->release_cb = NULL;
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   265
    master->cb_data = NULL;
238
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   266
268
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   267
    master->eeprom_write_enable = 0;
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   268
238
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   269
    ec_fsm_reset(&master->fsm);
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   270
}
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/*****************************************************************************/
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   273
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/**
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   Clears all slaves.
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*/
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void ec_master_clear_slaves(ec_master_t *master)
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{
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   280
    ec_slave_t *slave, *next_slave;
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    list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
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        list_del(&slave->list);
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        kobject_del(&slave->kobj);
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   285
        kobject_put(&slave->kobj);
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   286
    }
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   287
    master->slave_count = 0;
74
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}
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   290
/*****************************************************************************/
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   292
/**
293
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   293
   Places a datagram in the datagram queue.
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   294
*/
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   295
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   296
void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */
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                              ec_datagram_t *datagram /**< datagram */
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   298
                              )
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   299
{
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   300
    ec_datagram_t *queued_datagram;
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   301
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   302
    // check, if the datagram is already queued
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   303
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
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   304
        if (queued_datagram == datagram) {
332
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diff changeset
   305
            master->stats.skipped++;
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diff changeset
   306
            ec_master_output_stats(master);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   307
            datagram->state = EC_DATAGRAM_QUEUED;
98
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   308
            return;
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diff changeset
   309
        }
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diff changeset
   310
    }
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diff changeset
   311
293
14aeb79aa992 Renamed command structure to datagram.
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   312
    list_add_tail(&datagram->queue, &master->datagram_queue);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   313
    datagram->state = EC_DATAGRAM_QUEUED;
293
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diff changeset
   314
}
14aeb79aa992 Renamed command structure to datagram.
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   315
14aeb79aa992 Renamed command structure to datagram.
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   316
/*****************************************************************************/
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   317
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   318
/**
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   319
   Sends the datagrams in the queue.
195
674071846ee3 Translated all comments and documentation to english language.
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   320
   \return 0 in case of success, else < 0
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   321
*/
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diff changeset
   322
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   323
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   324
{
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   325
    ec_datagram_t *datagram;
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   326
    size_t datagram_size;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   327
    uint8_t *frame_data, *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   328
    void *follows_word;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
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diff changeset
   329
    cycles_t cycles_start, cycles_end;
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   330
    unsigned int frame_count, more_datagrams_waiting;
176
1ac0fc378b95 Sending of multiple frames
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parents: 173
diff changeset
   331
1ac0fc378b95 Sending of multiple frames
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diff changeset
   332
    frame_count = 0;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   333
    cycles_start = get_cycles();
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   334
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   335
    if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
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parents: 291
diff changeset
   336
        EC_DBG("ec_master_send_datagrams\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   337
176
1ac0fc378b95 Sending of multiple frames
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diff changeset
   338
    do {
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   339
        // fetch pointer to transmit socket buffer
176
1ac0fc378b95 Sending of multiple frames
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parents: 173
diff changeset
   340
        frame_data = ec_device_tx_data(master->device);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   341
        cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   342
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   343
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
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parents: 291
diff changeset
   344
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   345
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   346
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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parents: 321
diff changeset
   347
            if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   348
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   349
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   350
            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   351
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
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parents: 291
diff changeset
   352
            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
   353
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   354
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   355
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   356
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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diff changeset
   357
            datagram->state = EC_DATAGRAM_SENT;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   358
            datagram->cycles_sent = cycles_start;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   359
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   360
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   361
            if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   362
                EC_DBG("adding datagram 0x%02X\n", datagram->index);
14aeb79aa992 Renamed command structure to datagram.
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parents: 291
diff changeset
   363
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   364
            // set "datagram following" flag in previous frame
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   365
            if (follows_word)
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   366
                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   367
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   368
            // EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   369
            EC_WRITE_U8 (cur_data,     datagram->type);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   370
            EC_WRITE_U8 (cur_data + 1, datagram->index);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   371
            EC_WRITE_U32(cur_data + 2, datagram->address.logical);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   372
            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
   373
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   374
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   375
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   376
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   377
            // EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   378
            memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   379
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   380
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   381
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   382
            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
   383
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   384
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   385
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   386
        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   387
            if (unlikely(master->debug_level > 1))
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   388
                EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   389
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   390
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   391
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   392
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   393
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   394
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
1ac0fc378b95 Sending of multiple frames
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parents: 173
diff changeset
   395
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   396
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
   397
        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
   398
            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
   399
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   400
        if (unlikely(master->debug_level > 1))
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   401
            EC_DBG("frame size: %i\n", cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   402
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   403
        // send frame
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   404
        ec_device_send(master->device, cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   405
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   406
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   407
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   408
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   409
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   410
        cycles_end = get_cycles();
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   411
        EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   412
               frame_count,
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   413
               (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
   414
    }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   415
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   416
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   417
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   418
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   419
/**
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   420
   Processes a received frame.
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   421
   This function is called by the network driver for every received frame.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   422
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   423
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   424
331
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   425
void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   426
                                 const uint8_t *frame_data, /**< frame data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   427
                                 size_t size /**< size of the received data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   428
                                 )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   429
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   430
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   431
    uint8_t datagram_type, datagram_index;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   432
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   433
    const uint8_t *cur_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   434
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   435
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   436
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   437
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   438
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   439
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   440
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   441
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   442
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   443
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   444
    // 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
   445
    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
   446
    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
   447
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   448
    if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   449
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   450
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   451
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   452
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   453
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   454
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   455
    while (cmd_follows) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   456
        // process datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   457
        datagram_type  = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   458
        datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   459
        data_size      = EC_READ_U16(cur_data + 6) & 0x07FF;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   460
        cmd_follows    = EC_READ_U16(cur_data + 6) & 0x8000;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   461
        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
   462
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   463
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   464
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   465
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   466
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   467
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   468
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   469
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   470
        // 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
   471
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   472
        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
   473
            if (datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   474
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   475
                && datagram->index == datagram_index
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   476
                && 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
   477
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   478
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   479
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   480
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   481
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   482
        // 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
   483
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   484
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   485
            ec_master_output_stats(master);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   486
            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
   487
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   488
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   489
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
   490
        // copy received data into the datagram memory
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   491
        memcpy(datagram->data, cur_data, data_size);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   492
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   493
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   494
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   495
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   496
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   497
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   498
        // 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
   499
        datagram->state = EC_DATAGRAM_RECEIVED;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   500
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   501
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   502
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   503
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   504
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   505
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   506
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   507
   Scans the EtherCAT bus for slaves.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   508
   Creates a list of slave structures for further processing.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   509
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   510
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   511
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   512
int ec_master_bus_scan(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
   513
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   514
    ec_fsm_t *fsm = &master->fsm;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   515
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   516
    ec_fsm_startup(fsm); // init startup state machine
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   517
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   518
    do {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   519
        ec_fsm_execute(fsm);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   520
        ec_master_sync_io(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   521
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   522
    while (ec_fsm_startup_running(fsm));
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   523
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   524
    if (!ec_fsm_startup_success(fsm)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   525
        ec_master_clear_slaves(master);
90
044e97bce4bd Rahmen jetzt zustandslos.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   526
        return -1;
044e97bce4bd Rahmen jetzt zustandslos.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   527
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   528
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   529
    return 0;
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   530
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   531
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   532
/*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   533
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   534
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   535
   Output statistics in cyclic mode.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   536
   This function outputs statistical data on demand, but not more often than
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   537
   necessary. The output happens at most once a second.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   538
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   539
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   540
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
   541
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   542
    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
   543
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   544
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   545
        if (master->stats.timeouts) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   546
            EC_WARN("%i datagrams TIMED OUT!\n", master->stats.timeouts);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   547
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   548
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   549
        if (master->stats.corrupted) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   550
            EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   551
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   552
        }
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   553
        if (master->stats.skipped) {
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   554
            EC_WARN("%i datagram(s) SKIPPED!\n", master->stats.skipped);
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   555
            master->stats.skipped = 0;
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   556
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   557
        if (master->stats.unmatched) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   558
            EC_WARN("%i datagram(s) UNMATCHED!\n", master->stats.unmatched);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   559
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   560
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   561
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   562
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   563
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   564
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   565
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   566
/**
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   567
   Starts the Idle mode.
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   568
*/
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   569
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   570
void ec_master_idle_start(ec_master_t *master /**< EtherCAT master */)
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   571
{
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   572
    if (master->mode == EC_MASTER_MODE_IDLE) return;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   573
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   574
    if (master->mode == EC_MASTER_MODE_OPERATION) {
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   575
        EC_ERR("ec_master_idle_start: Master already running!\n");
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   576
        return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   577
    }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   578
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   579
    EC_INFO("Starting Idle mode.\n");
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   580
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   581
    master->mode = EC_MASTER_MODE_IDLE;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   582
    ec_fsm_reset(&master->fsm);
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   583
    queue_delayed_work(master->workqueue, &master->idle_work, 1);
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   584
}
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   585
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   586
/*****************************************************************************/
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   587
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   588
/**
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   589
   Stops the Idle mode.
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   590
*/
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   591
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   592
void ec_master_idle_stop(ec_master_t *master /**< EtherCAT master */)
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   593
{
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   594
    if (master->mode != EC_MASTER_MODE_IDLE) return;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   595
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   596
    ec_master_eoe_stop(master);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   597
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   598
    EC_INFO("Stopping Idle mode.\n");
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   599
    master->mode = EC_MASTER_MODE_ORPHANED; // this is important for the
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   600
                                            // IDLE work function to not
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   601
                                            // queue itself again
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   602
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   603
    if (!cancel_delayed_work(&master->idle_work)) {
236
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   604
        flush_workqueue(master->workqueue);
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   605
    }
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   606
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   607
    ec_master_clear_slaves(master);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   608
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   609
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   610
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   611
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   612
/**
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   613
   Idle mode function.
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   614
*/
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   615
318
5f35e74124d1 Renamed ec_master_idle() to ec_master_idle_run().
Florian Pose <fp@igh-essen.com>
parents: 313
diff changeset
   616
void ec_master_idle_run(void *data /**< master pointer */)
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   617
{
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   618
    ec_master_t *master = (ec_master_t *) data;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   619
    cycles_t cycles_start, cycles_end;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   620
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   621
    // aquire master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   622
    spin_lock_bh(&master->internal_lock);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   623
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   624
    cycles_start = get_cycles();
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   625
    ecrt_master_receive(master);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   626
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   627
    // execute master state machine
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   628
    ec_fsm_execute(&master->fsm);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   629
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   630
    ecrt_master_send(master);
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   631
    cycles_end = get_cycles();
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   632
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   633
    // release master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   634
    spin_unlock_bh(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   635
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   636
    master->idle_cycle_times[master->idle_cycle_time_pos]
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   637
        = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   638
    master->idle_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   639
    master->idle_cycle_time_pos %= HZ;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   640
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   641
    if (master->mode == EC_MASTER_MODE_IDLE)
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   642
        queue_delayed_work(master->workqueue, &master->idle_work, 1);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   643
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   644
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   645
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   646
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   647
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   648
   Initializes a sync manager configuration page with EEPROM data.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   649
   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   650
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   651
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   652
void ec_sync_config(const ec_sii_sync_t *sync, /**< sync manager */
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   653
                    const ec_slave_t *slave, /**< EtherCAT slave */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   654
                    uint8_t *data /**> configuration memory */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   655
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   656
{
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   657
    size_t sync_size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   658
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   659
    sync_size = ec_slave_calc_sync_size(slave, sync);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   660
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   661
    if (slave->master->debug_level) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   662
        EC_INFO("Slave %i, sync manager %i:\n", slave->ring_position,
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   663
                sync->index);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   664
        EC_INFO("  Address: 0x%04X\n", sync->physical_start_address);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   665
        EC_INFO("     Size: %i\n", sync_size);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   666
        EC_INFO("  Control: 0x%02X\n", sync->control_register);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   667
    }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   668
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   669
    EC_WRITE_U16(data,     sync->physical_start_address);
298
d491d1f84ebc Prefer EEPROM sync manager information for config.
Florian Pose <fp@igh-essen.com>
parents: 295
diff changeset
   670
    EC_WRITE_U16(data + 2, sync_size);
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   671
    EC_WRITE_U8 (data + 4, sync->control_register);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   672
    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   673
    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   674
}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   675
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   676
/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   677
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   678
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   679
   Initializes an FMMU configuration page.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   680
   The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   681
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   682
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   683
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   684
                    const ec_slave_t *slave, /**< EtherCAT slave */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   685
                    uint8_t *data /**> configuration memory */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   686
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   687
{
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   688
    size_t sync_size;
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   689
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   690
    sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   691
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   692
    EC_WRITE_U32(data,      fmmu->logical_start_address);
275
ba51285d4ef6 Variable-sized data fields, BK1120.
Florian Pose <fp@igh-essen.com>
parents: 274
diff changeset
   693
    EC_WRITE_U16(data + 4,  sync_size); // size of fmmu
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   694
    EC_WRITE_U8 (data + 6,  0x00); // logical start bit
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   695
    EC_WRITE_U8 (data + 7,  0x07); // logical end bit
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   696
    EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   697
    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   698
    EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   699
                             ? 0x02 : 0x01));
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   700
    EC_WRITE_U16(data + 12, 0x0001); // enable
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   701
    EC_WRITE_U16(data + 14, 0x0000); // reserved
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   702
}
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   703
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   704
/*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   705
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   706
/**
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   707
   Formats master information for SysFS read access.
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   708
   \return number of bytes written
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   709
*/
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   710
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   711
ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   712
                       char *buffer /**< memory to store data */
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   713
                       )
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   714
{
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   715
    off_t off = 0;
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   716
    ec_eoe_t *eoe;
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   717
    uint32_t cur, sum, min, max, pos, i;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   718
382
72500991bcc3 Altered master version string.
Florian Pose <fp@igh-essen.com>
parents: 381
diff changeset
   719
    off += sprintf(buffer + off, "\nVersion: " EC_MASTER_VERSION);
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   720
    off += sprintf(buffer + off, "\nMode: ");
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   721
    switch (master->mode) {
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   722
        case EC_MASTER_MODE_ORPHANED:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   723
            off += sprintf(buffer + off, "ORPHANED");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   724
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   725
        case EC_MASTER_MODE_IDLE:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   726
            off += sprintf(buffer + off, "IDLE");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   727
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   728
        case EC_MASTER_MODE_OPERATION:
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   729
            off += sprintf(buffer + off, "OPERATION");
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   730
            break;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   731
    }
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   732
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 337
diff changeset
   733
    off += sprintf(buffer + off, "\nSlaves: %i\n",
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   734
                   master->slave_count);
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   735
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   736
    off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   737
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   738
    sum = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   739
    min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   740
    max = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   741
    pos = master->idle_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   742
    for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   743
        cur = master->idle_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   744
        sum += cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   745
        if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   746
        if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   747
    }
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   748
    off += sprintf(buffer + off, "  Idle cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   749
                   min, sum / HZ, (sum * 100 / HZ) % 100, max);
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   750
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   751
    sum = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   752
    min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   753
    max = 0;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   754
    pos = master->eoe_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   755
    for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   756
        cur = master->eoe_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   757
        sum += cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   758
        if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   759
        if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   760
    }
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   761
    off += sprintf(buffer + off, "  EoE cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
   762
                   min, sum / HZ, (sum * 100 / HZ) % 100, max);
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   763
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   764
    if (!list_empty(&master->eoe_handlers))
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 337
diff changeset
   765
        off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   766
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
341
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   767
        off += sprintf(buffer + off, "  %s: %u / %u (%u KB/s)\n",
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   768
                       eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
f8aa65e05ff4 Added EoE rate in KB/s to master info.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
   769
                       ((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   770
    }
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 335
diff changeset
   771
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   772
    off += sprintf(buffer + off, "\n");
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   773
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   774
    return off;
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   775
}
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   776
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   777
/*****************************************************************************/
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   778
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   779
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   780
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   781
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   782
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   783
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   784
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   785
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   786
                                 char *buffer /**< memory to store data */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   787
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   788
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   789
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   790
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   791
    if (attr == &attr_info) {
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   792
        return ec_master_info(master, buffer);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   793
    }
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   794
    else if (attr == &attr_debug_level) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   795
        return sprintf(buffer, "%i\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   796
    }
313
ba324d82dfd3 Reading of eeprom_write_enable.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   797
    else if (attr == &attr_eeprom_write_enable) {
ba324d82dfd3 Reading of eeprom_write_enable.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   798
        return sprintf(buffer, "%i\n", master->eeprom_write_enable);
ba324d82dfd3 Reading of eeprom_write_enable.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   799
    }
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   800
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   801
    return 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   802
}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   803
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   804
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   805
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   806
/**
268
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   807
   Formats attribute data for SysFS write access.
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   808
   \return number of bytes processed, or negative error code
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   809
*/
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   810
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   811
ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   812
                                  struct attribute *attr, /**< attribute */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   813
                                  const char *buffer, /**< memory with data */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   814
                                  size_t size /**< size of data to store */
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   815
                                  )
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   816
{
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   817
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   818
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   819
    if (attr == &attr_eeprom_write_enable) {
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   820
        if (!strcmp(buffer, "1\n")) {
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   821
            master->eeprom_write_enable = 1;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   822
            EC_INFO("Slave EEPROM writing enabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   823
            return size;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   824
        }
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   825
        else if (!strcmp(buffer, "0\n")) {
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   826
            master->eeprom_write_enable = 0;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   827
            EC_INFO("Slave EEPROM writing disabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   828
            return size;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   829
        }
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   830
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   831
        EC_ERR("Invalid value for eeprom_write_enable!\n");
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   832
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   833
        if (master->eeprom_write_enable) {
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   834
            master->eeprom_write_enable = 0;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   835
            EC_INFO("Slave EEPROM writing disabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   836
        }
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   837
    }
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   838
    else if (attr == &attr_debug_level) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   839
        if (!strcmp(buffer, "0\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   840
            master->debug_level = 0;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   841
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   842
        else if (!strcmp(buffer, "1\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   843
            master->debug_level = 1;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   844
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   845
        else if (!strcmp(buffer, "2\n")) {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   846
            master->debug_level = 2;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   847
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   848
        else {
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   849
            EC_ERR("Invalid debug level value!\n");
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   850
            return -EINVAL;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   851
        }
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   852
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   853
        EC_INFO("Master debug level set to %i.\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   854
        return size;
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   855
    }
268
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   856
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   857
    return -EINVAL;
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   858
}
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   859
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   860
/*****************************************************************************/
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   861
4f9c149fb71f EEPROM write enable SysFS entry.
Florian Pose <fp@igh-essen.com>
parents: 261
diff changeset
   862
/**
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   863
   Starts Ethernet-over-EtherCAT processing on demand.
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   864
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   865
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   866
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   867
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   868
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   869
    ec_slave_t *slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   870
    unsigned int coupled, found;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   871
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   872
    if (master->eoe_running || master->eoe_checked) return;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   873
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   874
    master->eoe_checked = 1;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   875
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   876
    // if the locking callbacks are not set in operation mode,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   877
    // the EoE timer my not be started.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   878
    if (master->mode == EC_MASTER_MODE_OPERATION
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   879
        && (!master->request_cb || !master->release_cb)) {
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   880
        EC_INFO("No EoE processing because of missing locking callbacks.\n");
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   881
        return;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   882
    }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   883
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   884
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   885
    list_for_each_entry(eoe, &master->eoe_handlers, list)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   886
        eoe->slave = NULL;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   887
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   888
    // couple a free EoE handler to every EoE-capable slave
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   889
    coupled = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   890
    list_for_each_entry(slave, &master->slaves, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   891
        if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   892
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   893
        found = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   894
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   895
            if (eoe->slave) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   896
            eoe->slave = slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   897
            found = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   898
            coupled++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   899
            EC_INFO("Coupling device %s to slave %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   900
                    eoe->dev->name, slave->ring_position);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   901
            if (eoe->opened) slave->requested_state = EC_SLAVE_STATE_OP;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   902
            else slave->requested_state = EC_SLAVE_STATE_INIT;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 278
diff changeset
   903
            slave->error_flag = 0;
253
6dd3e49dbb85 Fixed bug with coupling multiple EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 252
diff changeset
   904
            break;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   905
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   906
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   907
        if (!found) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   908
            EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   909
            slave->requested_state = EC_SLAVE_STATE_INIT;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 278
diff changeset
   910
            slave->error_flag = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   911
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   912
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   913
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   914
    if (!coupled) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   915
        EC_INFO("No EoE handlers coupled.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   916
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   917
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   918
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   919
    EC_INFO("Starting EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   920
    master->eoe_running = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   921
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   922
    // start EoE processing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   923
    master->eoe_timer.expires = jiffies + 10;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   924
    add_timer(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   925
    return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   926
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   927
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   928
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   929
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   930
/**
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   931
   Stops the Ethernet-over-EtherCAT processing.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   932
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   933
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   934
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   935
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   936
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   937
326
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   938
    master->eoe_checked = 0;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   939
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   940
    if (!master->eoe_running) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   941
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   942
    EC_INFO("Stopping EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   943
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   944
    del_timer_sync(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   945
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   946
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   947
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   948
        if (eoe->slave) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   949
            eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 278
diff changeset
   950
            eoe->slave->error_flag = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   951
            eoe->slave = NULL;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   952
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   953
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   954
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   955
    master->eoe_running = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   956
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   957
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   958
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   959
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   960
   Does the Ethernet-over-EtherCAT processing.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   961
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   962
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   963
void ec_master_eoe_run(unsigned long data /**< master pointer */)
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
   964
{
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
   965
    ec_master_t *master = (ec_master_t *) data;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   966
    ec_eoe_t *eoe;
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   967
    unsigned int active = 0;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   968
    cycles_t cycles_start, cycles_end;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   969
    unsigned long restart_jiffies;
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   970
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   971
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   972
        if (ec_eoe_active(eoe)) active++;
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   973
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   974
    if (!active) goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   975
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   976
    // aquire master lock...
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   977
    if (master->mode == EC_MASTER_MODE_OPERATION) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   978
        // request_cb must return 0, if the lock has been aquired!
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   979
        if (master->request_cb(master->cb_data))
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   980
            goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   981
    }
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
   982
    else if (master->mode == EC_MASTER_MODE_IDLE) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   983
        spin_lock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   984
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   985
    else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   986
        goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   987
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   988
    // actual EoE processing
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   989
    cycles_start = get_cycles();
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   990
    ecrt_master_receive(master);
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   991
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   992
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   993
        ec_eoe_run(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   994
    }
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
   995
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   996
    ecrt_master_send(master);
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   997
    cycles_end = get_cycles();
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   998
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   999
    // release lock...
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1000
    if (master->mode == EC_MASTER_MODE_OPERATION) {
228
ec516cfa207e Added EC_EOE_FREQUENCY
Florian Pose <fp@igh-essen.com>
parents: 226
diff changeset
  1001
        master->release_cb(master->cb_data);
ec516cfa207e Added EC_EOE_FREQUENCY
Florian Pose <fp@igh-essen.com>
parents: 226
diff changeset
  1002
    }
306
45886de3db87 Renamed FREERUN mode to IDLE mode.
Florian Pose <fp@igh-essen.com>
parents: 305
diff changeset
  1003
    else if (master->mode == EC_MASTER_MODE_IDLE) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1004
        spin_unlock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1005
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1006
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1007
    master->eoe_cycle_times[master->eoe_cycle_time_pos]
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1008
        = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
335
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1009
    master->eoe_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement.
Florian Pose <fp@igh-essen.com>
parents: 334
diff changeset
  1010
    master->eoe_cycle_time_pos %= HZ;
334
2be97e069602 Master information, timing.
Florian Pose <fp@igh-essen.com>
parents: 332
diff changeset
  1011
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1012
 queue_timer:
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1013
    restart_jiffies = HZ / EC_EOE_FREQUENCY;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1014
    if (!restart_jiffies) restart_jiffies = 1;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1015
    master->eoe_timer.expires += restart_jiffies;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1016
    add_timer(&master->eoe_timer);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1017
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1018
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1019
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1020
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1021
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1022
   Calculates Advanced Position Adresses.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1023
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1024
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1025
void ec_master_calc_addressing(ec_master_t *master /**< EtherCAT master */)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1026
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1027
    uint16_t coupler_index, coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1028
    uint16_t reverse_coupler_index, current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1029
    ec_slave_t *slave;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1030
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1031
    coupler_index = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1032
    reverse_coupler_index = 0xFFFF;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1033
    current_coupler_index = 0x0000;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1034
    coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1035
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1036
    list_for_each_entry(slave, &master->slaves, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1037
        if (ec_slave_is_coupler(slave)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1038
            if (slave->sii_alias)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1039
                current_coupler_index = reverse_coupler_index--;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1040
            else
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1041
                current_coupler_index = coupler_index++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1042
            coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1043
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1044
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1045
        slave->coupler_index = current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1046
        slave->coupler_subindex = coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1047
        coupler_subindex++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1048
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1049
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1050
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1051
/*****************************************************************************/
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1052
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1053
/**
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1054
   Measures the time, a frame is on the bus.
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1055
   \return 0 in case of success, else < 0
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1056
*/
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1057
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1058
int ec_master_measure_bus_time(ec_master_t *master)
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1059
{
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1060
    ec_datagram_t datagram;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1061
    cycles_t cycles_start, cycles_end, cycles_timeout;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1062
    uint32_t times[100], sum, min, max, i;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1063
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1064
    ec_datagram_init(&datagram);
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1065
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1066
    if (ec_datagram_brd(&datagram, 0x130, 2)) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1067
        EC_ERR("Failed to allocate datagram for bus time measuring.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1068
        ec_datagram_clear(&datagram);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1069
        return -1;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1070
    }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1071
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1072
    cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1073
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1074
    sum = 0;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1075
    min = 0xFFFFFFFF;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1076
    max = 0;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1077
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1078
    for (i = 0; i < 100; i++) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1079
        ec_master_queue_datagram(master, &datagram);
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1080
        ecrt_master_send(master);
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1081
        cycles_start = get_cycles();
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1082
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1083
        while (1) { // active waiting
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1084
            ec_device_call_isr(master->device);
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1085
            cycles_end = get_cycles(); // take current time
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1086
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1087
            if (datagram.state == EC_DATAGRAM_RECEIVED) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1088
                break;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1089
            }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1090
            else if (datagram.state == EC_DATAGRAM_ERROR) {
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1091
                EC_WARN("Failed to measure bus time.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1092
                goto error;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1093
            }
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1094
            else if (cycles_end - cycles_start >= cycles_timeout) {
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1095
                EC_WARN("Timeout while measuring bus time.\n");
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1096
                goto error;
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1097
            }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1098
        }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1099
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1100
        times[i] = (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1101
        sum += times[i];
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1102
        if (times[i] > max) max = times[i];
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1103
        if (times[i] < min) min = times[i];
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1104
    }
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1105
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1106
    EC_INFO("Bus time is (min/avg/max) %u/%u.%u/%u us.\n",
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1107
            min, sum / 100, sum % 100, max);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1108
    return 0;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1109
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1110
  error:
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1111
    // Dequeue and free datagram
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1112
    list_del(&datagram.queue);
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1113
    ec_datagram_clear(&datagram);
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
  1114
    return -1;
330
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1115
}
b984763cecc2 Measure bus time.
Florian Pose <fp@igh-essen.com>
parents: 326
diff changeset
  1116
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1117
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1118
 *  Realtime interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1119
 *****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1120
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1121
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1122
   Creates a domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1123
   \return pointer to new domain on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1124
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1125
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1126
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1127
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1128
{
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1129
    ec_domain_t *domain, *last_domain;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1130
    unsigned int index;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1131
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1132
    if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1133
        EC_ERR("Error allocating domain memory!\n");
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1134
        goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1135
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1136
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1137
    if (list_empty(&master->domains)) index = 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1138
    else {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1139
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1140
        index = last_domain->index + 1;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1141
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1142
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1143
    if (ec_domain_init(domain, master, index)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1144
        EC_ERR("Failed to init domain.\n");
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1145
        goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1146
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1147
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1148
    if (kobject_add(&domain->kobj)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1149
        EC_ERR("Failed to add domain kobject.\n");
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1150
        goto out_put;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1151
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1152
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1153
    list_add_tail(&domain->list, &master->domains);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1154
    return domain;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1155
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1156
 out_put:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1157
    kobject_put(&domain->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1158
 out_return:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
  1159
    return NULL;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1160
}
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1161
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1162
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1163
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1164
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1165
   Configures all slaves and leads them to the OP state.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1166
   Does the complete configuration and activation for all slaves. Sets sync
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1167
   managers and FMMUs, and does the appropriate transitions, until the slave
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1168
   is operational.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1169
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1170
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1171
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1172
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1173
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1174
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1175
    uint32_t domain_offset;
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1176
    ec_domain_t *domain;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1177
    ec_fsm_t *fsm = &master->fsm;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1178
    ec_slave_t *slave;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1179
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1180
    // allocate all domains
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1181
    domain_offset = 0;
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1182
    list_for_each_entry(domain, &master->domains, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1183
        if (ec_domain_alloc(domain, domain_offset)) {
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1184
            EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1185
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1186
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1187
        domain_offset += domain->data_size;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1188
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1189
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1190
    // determine initial states.
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1191
    list_for_each_entry(slave, &master->slaves, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1192
        if (ec_slave_is_coupler(slave) || slave->registered) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1193
            slave->requested_state = EC_SLAVE_STATE_OP;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1194
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1195
        else {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1196
            slave->requested_state = EC_SLAVE_STATE_PREOP;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1197
        }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1198
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1199
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1200
    ec_fsm_configuration(fsm); // init configuration state machine
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1201
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1202
    do {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1203
        ec_fsm_execute(fsm);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1204
        ec_master_sync_io(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1205
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1206
    while (ec_fsm_configuration_running(fsm));
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1207
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1208
    if (!ec_fsm_configuration_success(fsm)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1209
        return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1210
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1211
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1212
    ec_fsm_reset(&master->fsm); // prepare for operation state machine
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1213
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1214
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1215
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1216
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1217
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1218
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1219
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1220
   Resets all slaves to INIT state.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1221
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1222
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1223
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1224
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1225
{
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1226
    ec_fsm_t *fsm = &master->fsm;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1227
    ec_slave_t *slave;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1228
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1229
    list_for_each_entry(slave, &master->slaves, list) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1230
        slave->requested_state = EC_SLAVE_STATE_INIT;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1231
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1232
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1233
    ec_fsm_configuration(fsm); // init configuration state machine
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1234
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1235
    do {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1236
        ec_fsm_execute(fsm);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1237
        ec_master_sync_io(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1238
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1239
    while (ec_fsm_configuration_running(fsm));
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1240
}
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1241
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1242
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1243
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1244
/**
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1245
   Sends queued datagrams and waits for their reception.
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1246
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1247
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1248
void ec_master_sync_io(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
  1249
{
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1250
    ec_datagram_t *datagram;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1251
    unsigned int datagrams_waiting;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1252
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1253
    // send datagrams
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1254
    ecrt_master_send(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1255
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1256
    while (1) { // active waiting
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1257
        ecrt_master_receive(master); // receive and dequeue datagrams
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1258
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1259
        // count number of datagrams still waiting for response
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1260
        datagrams_waiting = 0;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1261
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1262
            datagrams_waiting++;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1263
        }
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1264
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1265
        // if there are no more datagrams waiting, abort loop.
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1266
        if (!datagrams_waiting) break;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1267
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1268
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1269
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1270
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1271
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1272
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1273
   Asynchronous sending of datagrams.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1274
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1275
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1276
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1277
void ecrt_master_send(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1278
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1279
    ec_datagram_t *datagram, *n;
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1280
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1281
    if (unlikely(!master->device->link_state)) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1282
        // link is down, no datagram can be sent
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1283
        list_for_each_entry_safe(datagram, n, &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
  1284
            datagram->state = EC_DATAGRAM_ERROR;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1285
            list_del_init(&datagram->queue);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1286
        }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1287
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1288
        // query link state
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1289
        ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1290
        return;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1291
    }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1292
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1293
    // send frames
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1294
    ec_master_send_datagrams(master);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1295
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1296
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1297
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1298
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1299
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1300
   Asynchronous receiving of datagrams.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1301
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1302
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1303
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1304
void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1305
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1306
    ec_datagram_t *datagram, *next;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1307
    cycles_t cycles_received, cycles_timeout;
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1308
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1309
    ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1310
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1311
    cycles_received = get_cycles();
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1312
    cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1313
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1314
    // dequeue all datagrams that timed out
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1315
    list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1316
        switch (datagram->state) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1317
            case EC_DATAGRAM_SENT:
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1318
            case EC_DATAGRAM_QUEUED:
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1319
                if (cycles_received - datagram->cycles_sent > cycles_timeout) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1320
                    list_del_init(&datagram->queue);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1321
                    datagram->state = EC_DATAGRAM_TIMED_OUT;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1322
                    master->stats.timeouts++;
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1323
                    ec_master_output_stats(master);
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1324
                }
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1325
                break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1326
            default:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1327
                break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1328
        }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1329
    }
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1330
}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1331
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1332
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1333
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1334
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1335
   Prepares synchronous IO.
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1336
   Queues all domain datagrams and sends them. Then waits a certain time, so
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1337
   that ecrt_master_receive() can be called securely.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1338
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1339
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1340
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1341
void ecrt_master_prepare(ec_master_t *master /**< EtherCAT master */)
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1342
{
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1343
    ec_domain_t *domain;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1344
    cycles_t cycles_start, cycles_end, cycles_timeout;
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1345
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1346
    // queue datagrams of all domains
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1347
    list_for_each_entry(domain, &master->domains, list)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1348
        ec_domain_queue(domain);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1349
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1350
    ecrt_master_send(master);
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1351
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1352
    cycles_start = get_cycles(); // take sending time
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1353
    cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1354
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1355
    // active waiting
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1356
    while (1) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1357
        cycles_end = get_cycles();
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1358
        if (cycles_end - cycles_start >= cycles_timeout) break;
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1359
    }
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1360
}
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1361
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1362
/*****************************************************************************/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1363
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1364
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1365
   Does all cyclic master work.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1366
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1367
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1368
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1369
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1370
{
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1371
    // output statistics
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1372
    ec_master_output_stats(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1373
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
  1374
    // execute master state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
  1375
    ec_fsm_execute(&master->fsm);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1376
}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1377
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1378
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1379
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1380
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1381
   Translates an ASCII coded bus-address to a slave pointer.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1382
   These are the valid addressing schemes:
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1383
   - \a "X" = the X. slave on the bus,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1384
   - \a "X:Y" = the Y. slave after the X. branch (bus coupler),
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1385
   - \a "#X" = the slave with alias X,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1386
   - \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1387
   X and Y are zero-based indices and may be provided in hexadecimal or octal
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1388
   notation (with respective prefix).
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1389
   \return pointer to the slave on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1390
   \ingroup RealtimeInterface
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1391
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1392
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1393
ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1394
                                  const char *address /**< address string */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1395
                                  )
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1396
{
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1397
    unsigned long first, second;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1398
    char *remainder, *remainder2;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1399
    unsigned int alias_requested, alias_found;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1400
    ec_slave_t *alias_slave = NULL, *slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1401
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1402
    if (!address || address[0] == 0) return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1403
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1404
    alias_requested = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1405
    if (address[0] == '#') {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1406
        alias_requested = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1407
        address++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1408
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1409
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1410
    first = simple_strtoul(address, &remainder, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1411
    if (remainder == address) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1412
        EC_ERR("Slave address \"%s\" - First number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1413
        return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1414
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1415
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1416
    if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1417
        alias_found = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1418
        list_for_each_entry(alias_slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1419
            if (alias_slave->sii_alias == first) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1420
                alias_found = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1421
                break;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1422
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1423
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1424
        if (!alias_found) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1425
            EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1426
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1427
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1428
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1429
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1430
    if (!remainder[0]) { // absolute position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1431
        if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1432
            return alias_slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1433
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1434
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1435
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1436
                if (slave->ring_position == first) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1437
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1438
            EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1439
                   address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1440
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1441
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1442
    else if (remainder[0] == ':') { // field position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1443
        remainder++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1444
        second = simple_strtoul(remainder, &remainder2, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1445
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1446
        if (remainder2 == remainder) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1447
            EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1448
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1449
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1450
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1451
        if (remainder2[0]) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1452
            EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1453
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1454
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1455
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1456
        if (alias_requested) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1457
            if (!ec_slave_is_coupler(alias_slave)) {
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1458
                EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1459
                       " in colon mode.\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1460
                return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1461
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1462
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1463
                if (slave->coupler_index == alias_slave->coupler_index
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1464
                    && slave->coupler_subindex == second)
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1465
                    return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1466
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1467
            EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1468
                   " following!\n", address, alias_slave->ring_position,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1469
                   second);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1470
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1471
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1472
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1473
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1474
                if (slave->coupler_index == first
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1475
                    && slave->coupler_subindex == second) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1476
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1477
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1478
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1479
    else
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1480
        EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1481
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1482
    return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1483
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1484
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1485
/*****************************************************************************/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1486
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1487
/**
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1488
   Sets the locking callbacks.
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1489
   The request_cb function must return zero, to allow another instance
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1490
   (the EoE process for example) to access the master. Non-zero means,
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1491
   that access is forbidden at this time.
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1492
   \ingroup RealtimeInterface
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1493
*/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1494
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1495
void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1496
                           int (*request_cb)(void *), /**< request lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1497
                           void (*release_cb)(void *), /**< release lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1498
                           void *cb_data /**< data parameter */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1499
                           )
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1500
{
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1501
    master->request_cb = request_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1502
    master->release_cb = release_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1503
    master->cb_data = cb_data;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1504
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1505
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1506
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1507
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1508
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1509
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1510
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1511
EXPORT_SYMBOL(ecrt_master_activate);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1512
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
  1513
EXPORT_SYMBOL(ecrt_master_prepare);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1514
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
  1515
EXPORT_SYMBOL(ecrt_master_receive);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1516
EXPORT_SYMBOL(ecrt_master_run);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1517
EXPORT_SYMBOL(ecrt_master_callbacks);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1518
EXPORT_SYMBOL(ecrt_master_get_slave);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  1519
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1520
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1521
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1522
/*****************************************************************************/