etherlabmaster: master/master.c@5746fdd1ca2e (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	31	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	32	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT master methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	41	#include <linux/module.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include <linux/kernel.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include <linux/string.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include <linux/slab.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include <linux/delay.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	47	#include "../include/ecrt.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	48	#include "globals.h"
55 059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	49	#include "slave.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	50	#include "slave_config.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	51	#include "device.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	52	#include "datagram.h"
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	53	#ifdef EC_EOE
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	54	#include "ethernet.h"
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	55	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	56	#include "master.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	57
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	58	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	59
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	60	void ec_master_clear_slave_configs(ec_master_t *);
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	61	void ec_master_clear_domains(ec_master_t *);
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	62	static int ec_master_idle_thread(ec_master_t *);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	63	static int ec_master_operation_thread(ec_master_t *);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	64	#ifdef EC_EOE
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	65	void ec_master_eoe_run(unsigned long);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	66	#endif
179 fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	67
fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	68	/*****************************************************************************/
fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	69
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	70	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	71	Master constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	72	\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	73	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	74
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	75	int ec_master_init(ec_master_t master, /< EtherCAT master /
576 158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX. Florian Pose <fp@igh-essen.com> parents: 573 diff changeset	76	unsigned int index, /*< master index /
639 aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	77	const uint8_t main_mac, /< MAC address of main device /
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: 902 diff changeset	78	const uint8_t backup_mac, /< MAC address of backup device /
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: 902 diff changeset	79	dev_t device_number /*< Character device number. /
576 158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX. Florian Pose <fp@igh-essen.com> parents: 573 diff changeset	80	)
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	81	{
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	82	unsigned int i;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	83
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	84	master->index = index;
647 dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used Florian Pose <fp@igh-essen.com> parents: 646 diff changeset	85	master->reserved = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	86
639 aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	87	master->main_mac = main_mac;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	88	master->backup_mac = backup_mac;
381 006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master. Florian Pose <fp@igh-essen.com> parents: 378 diff changeset	89	init_MUTEX(&master->device_sem);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	90
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	91	master->mode = EC_MASTER_MODE_ORPHANED;
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	92	master->injection_seq_fsm = 0;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	93	master->injection_seq_rt = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	94
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	95	master->slaves = NULL;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	96	master->slave_count = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	97
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	98	INIT_LIST_HEAD(&master->configs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	99
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	100	master->scan_busy = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	101	master->allow_scan = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	102	init_MUTEX(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	103	init_waitqueue_head(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	104
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	105	master->config_busy = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	106	master->allow_config = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	107	init_MUTEX(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	108	init_waitqueue_head(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	109
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	110	INIT_LIST_HEAD(&master->datagram_queue);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	111	master->datagram_index = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	112
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	113	INIT_LIST_HEAD(&master->domains);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	114
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	115	master->debug_level = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	116	master->stats.timeouts = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	117	master->stats.corrupted = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	118	master->stats.unmatched = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	119	master->stats.output_jiffies = 0;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	120	master->frames_timed_out = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	121
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	122	for (i = 0; i < HZ; i++) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	123	master->idle_cycle_times[i] = 0;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	124	#ifdef EC_EOE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	125	master->eoe_cycle_times[i] = 0;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	126	#endif
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	127	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	128	master->idle_cycle_time_pos = 0;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	129	#ifdef EC_EOE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	130	master->eoe_cycle_time_pos = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	131
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	132	init_timer(&master->eoe_timer);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	133	master->eoe_timer.function = ec_master_eoe_run;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	134	master->eoe_timer.data = (unsigned long) master;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	135	master->eoe_running = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	136	INIT_LIST_HEAD(&master->eoe_handlers);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	137	#endif
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	138
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	139	master->internal_lock = SPIN_LOCK_UNLOCKED;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	140	master->request_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	141	master->release_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	142	master->cb_data = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	143
872 d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	144	INIT_LIST_HEAD(&master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	145	init_MUTEX(&master->sii_sem);
d4e0380d63b3 Renamed EEPROM to SII. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	146	init_waitqueue_head(&master->sii_queue);
601 d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user Florian Pose <fp@igh-essen.com> parents: 597 diff changeset	147
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	148	INIT_LIST_HEAD(&master->slave_sdo_requests);
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	149	init_MUTEX(&master->sdo_sem);
646 fbbd4e54e031 Implemented SDO reading with wait queues. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	150	init_waitqueue_head(&master->sdo_queue);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	151
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	152	// init devices
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	153	if (ec_device_init(&master->main_device, master))
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	154	goto out_return;
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	155
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	156	if (ec_device_init(&master->backup_device, master))
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	157	goto out_clear_main;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	158
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	159	// init state machine datagram
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	160	ec_datagram_init(&master->fsm_datagram);
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 715 diff changeset	161	snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	162	if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	163	EC_ERR("Failed to allocate FSM datagram.\n");
659 d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function; Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	164	goto out_clear_backup;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	165	}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	166
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	167	// create state machine object
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	168	ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	169
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	170	// init character device
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	171	if (ec_cdev_init(&master->cdev, master, device_number))
659 d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function; Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	172	goto out_clear_fsm;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	173
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	174	return 0;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	175
659 d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function; Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	176	out_clear_fsm:
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function; Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	177	ec_fsm_master_clear(&master->fsm);
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	178	ec_datagram_clear(&master->fsm_datagram);
659 d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function; Florian Pose <fp@igh-essen.com> parents: 656 diff changeset	179	out_clear_backup:
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	180	ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	181	out_clear_main:
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	182	ec_device_clear(&master->main_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	183	out_return:
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	184	return -1;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	186
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	187	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	188
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	189	/** Destructor.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	190	*/
639 aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	191	void ec_master_clear(
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	192	ec_master_t master /< EtherCAT master /
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	193	)
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	194	{
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	195	ec_cdev_clear(&master->cdev);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	196	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	197	ec_master_clear_eoe_handlers(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	198	#endif
994 e29edcced328 Clear domains before slave configs, because domain references the FMMU Florian Pose <fp@igh-essen.com> parents: 993 diff changeset	199	ec_master_clear_domains(master);
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	200	ec_master_clear_slave_configs(master);
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	201	ec_master_clear_slaves(master);
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	202	ec_fsm_master_clear(&master->fsm);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	203	ec_datagram_clear(&master->fsm_datagram);
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	204	ec_device_clear(&master->backup_device);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	205	ec_device_clear(&master->main_device);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	206	}
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	207
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	208	/*****************************************************************************/
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	209
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	210	#ifdef EC_EOE
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	211	/** Clear and free all EoE handlers.
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	212	*/
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	213	void ec_master_clear_eoe_handlers(
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	214	ec_master_t master /< EtherCAT master /
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	215	)
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	216	{
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	217	ec_eoe_t eoe, next;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	218
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	219	list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	220	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	221	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	222	kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	223	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	224	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	225	#endif
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	226
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	227	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	228
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	229	/** Clear all slave configurations.
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	230	*/
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	231	void ec_master_clear_slave_configs(ec_master_t *master)
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	232	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	233	ec_slave_config_t sc, next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	234
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	235	list_for_each_entry_safe(sc, next, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	236	list_del(&sc->list);
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	237	ec_slave_config_clear(sc);
54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	238	kfree(sc);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	239	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	240	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	241
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	242	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	243
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	244	/** Clear all slaves.
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	245	*/
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	246	void ec_master_clear_slaves(ec_master_t *master)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	247	{
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	248	ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	249
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	250	for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	251	slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	252	slave++) {
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	253	ec_slave_clear(slave);
50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	254	kfree(slave);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	255	}
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	256
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	257	if (master->slave_count) {
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	258	kfree(master->slaves);
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	259	master->slaves = NULL;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	260	master->slave_count = 0;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	261	}
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	262	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	263
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	264	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	265
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	266	/** Clear all domains.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	267	*/
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	268	void ec_master_clear_domains(ec_master_t *master)
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	269	{
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	270	ec_domain_t domain, next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	271
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	272	list_for_each_entry_safe(domain, next, &master->domains, list) {
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	273	list_del(&domain->list);
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	274	ec_domain_clear(domain);
8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	275	kfree(domain);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	276	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	277	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	278
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	279	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	280
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	281	/** Internal locking callback.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	282	*/
515 37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	283	int ec_master_request_cb(void master /< callback data /)
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	284	{
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	285	spin_lock(&((ec_master_t *) master)->internal_lock);
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	286	return 0;
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	287	}
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	288
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	289	/*****************************************************************************/
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	290
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	291	/** Internal unlocking callback.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	292	*/
515 37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	293	void ec_master_release_cb(void master /< callback data /)
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	294	{
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	295	spin_unlock(&((ec_master_t *) master)->internal_lock);
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	296	}
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	297
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	298	/*****************************************************************************/
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	299
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	300	/** Starts the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	301	*/
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	302	int ec_master_thread_start(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	303	ec_master_t master, /< EtherCAT master /
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	304	int (thread_func)(ec_master_t ) /*< thread function to start /
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	305	)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	306	{
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	307	init_completion(&master->thread_exit);
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	308
540 a729667dea1e Minor changes in master thread messages. Florian Pose <fp@igh-essen.com> parents: 533 diff changeset	309	EC_INFO("Starting master thread.\n");
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	310	if (!(master->thread_id = kernel_thread((int ()(void )) thread_func,
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	311	master, CLONE_KERNEL)))
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	312	return -1;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	313
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	314	return 0;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	315	}
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	316
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	317	/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	318
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	319	/** Stops the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	320	*/
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	321	void ec_master_thread_stop(ec_master_t master /< EtherCAT master /)
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	322	{
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	323	if (!master->thread_id) {
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	324	EC_WARN("ec_master_thread_stop: Already finished!\n");
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	325	return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	326	}
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	327
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	328	kill_proc(master->thread_id, SIGTERM, 1);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	329	wait_for_completion(&master->thread_exit);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	330	EC_INFO("Master thread exited.\n");
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	331
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	332	if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	333
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	334	// wait for FSM datagram
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	335	while (get_cycles() - master->fsm_datagram.cycles_sent
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	336	< (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000))
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	337	schedule();
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	338	}
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	339
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	340	/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	341
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	342	/** Transition function from ORPHANED to IDLE mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	343	*/
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	344	int ec_master_enter_idle_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	345	{
515 37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	346	master->request_cb = ec_master_request_cb;
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	347	master->release_cb = ec_master_release_cb;
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	348	master->cb_data = master;
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	349
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	350	master->mode = EC_MASTER_MODE_IDLE;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	351	if (ec_master_thread_start(master, ec_master_idle_thread)) {
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	352	master->mode = EC_MASTER_MODE_ORPHANED;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	353	return -1;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	354	}
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	355
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	356	return 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	357	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	358
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	359	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	360
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	361	/** Transition function from IDLE to ORPHANED mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	362	*/
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	363	void ec_master_leave_idle_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	364	{
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	365	master->mode = EC_MASTER_MODE_ORPHANED;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	366
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	367	#ifdef EC_EOE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	368	ec_master_eoe_stop(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	369	#endif
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	370	ec_master_thread_stop(master);
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	371	ec_master_clear_slaves(master);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	372	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	373
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	374	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	375
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	376	/** Transition function from IDLE to OPERATION mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	377	*/
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	378	int ec_master_enter_operation_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	379	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	380	ec_slave_t *slave;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	381	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	382	ec_eoe_t *eoe;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	383	#endif
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	384
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	385	down(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	386	master->allow_config = 0; // temporarily disable slave configuration
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	387	if (master->config_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	388	up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	389
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	390	// wait for slave configuration to complete
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	391	if (wait_event_interruptible(master->config_queue,
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	392	!master->config_busy)) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	393	EC_INFO("Finishing slave configuration interrupted by signal.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	394	goto out_allow;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	395	}
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	396
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	397	if (master->debug_level)
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	398	EC_DBG("Waiting for pending slave configuration returned.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	399	} else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	400	up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	401	}
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	402
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	403	down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	404	master->allow_scan = 0; // 'lock' the slave list
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	405	if (!master->scan_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	406	up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	407	} else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	408	up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	409
794 684dea874956 Allow bus configuration when link is down. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	410	// wait for slave scan to complete
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	411	if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {
794 684dea874956 Allow bus configuration when link is down. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	412	EC_INFO("Waiting for slave scan interrupted by signal.\n");
684dea874956 Allow bus configuration when link is down. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	413	goto out_allow;
684dea874956 Allow bus configuration when link is down. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	414	}
900 f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	415
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	416	if (master->debug_level)
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	417	EC_DBG("Waiting for pending slave scan returned.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation; Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	418	}
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	419
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	420	// set states for all slaves
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	421	for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	422	slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	423	slave++) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 640 diff changeset	424	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	425	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	426	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	427	// ... but set EoE slaves to OP
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	428	list_for_each_entry(eoe, &master->eoe_handlers, list) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	429	if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	430	ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	431	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	432	#endif
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	433
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	434	if (master->debug_level)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	435	EC_DBG("Switching to operation mode.\n");
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	436
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	437	master->mode = EC_MASTER_MODE_OPERATION;
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	438	master->ext_request_cb = NULL;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	439	master->ext_release_cb = NULL;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	440	master->ext_cb_data = NULL;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	441	return 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	442
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	443	out_allow:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	444	master->allow_scan = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	445	master->allow_config = 1;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	446	return -1;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	447	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	448
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	449	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	450
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	451	/** Transition function from OPERATION to IDLE mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	452	*/
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	453	void ec_master_leave_operation_mode(ec_master_t *master
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	454	/*< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	455	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	456	ec_slave_t *slave;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	457	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	458	ec_eoe_t *eoe;
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	459	#endif
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	460
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	461	master->mode = EC_MASTER_MODE_IDLE;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	462
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	463	#ifdef EC_EOE
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	464	ec_master_eoe_stop(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	465	#endif
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	466	ec_master_thread_stop(master);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	467
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	468	master->request_cb = ec_master_request_cb;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	469	master->release_cb = ec_master_release_cb;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	470	master->cb_data = master;
528 f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch] Florian Pose <fp@igh-essen.com> parents: 527 diff changeset	471
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	472	ec_master_clear_domains(master);
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	473	ec_master_clear_slave_configs(master);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	474
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	475	// set states for all slaves
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	476	for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	477	slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	478	slave++) {
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	479	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	480	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	481	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	482	// ... but leave EoE slaves in OP
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	483	list_for_each_entry(eoe, &master->eoe_handlers, list) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	484	if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	485	ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	486	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	487	#endif
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	488
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	489	if (ec_master_thread_start(master, ec_master_idle_thread))
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	490	EC_WARN("Failed to restart master thread!\n");
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	491	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	492	ec_master_eoe_start(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	493	#endif
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	494
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	495	master->allow_scan = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	496	master->allow_config = 1;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	497	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	498
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	499	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	500
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	501	/** Places a datagram in the datagram queue.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	502	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	503	void ec_master_queue_datagram(ec_master_t master, /< EtherCAT master /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	504	ec_datagram_t datagram /< datagram /
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	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	507	ec_datagram_t *queued_datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	508
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	509	// check, if the datagram is already queued
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	510	list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	511	if (queued_datagram == datagram) {
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 715 diff changeset	512	datagram->skip_count++;
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	513	if (master->debug_level)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	514	EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	515	datagram->state = EC_DATAGRAM_QUEUED;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	516	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	517	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	518	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	519
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	520	list_add_tail(&datagram->queue, &master->datagram_queue);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	521	datagram->state = EC_DATAGRAM_QUEUED;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	522	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	523
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	524	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	525
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	526	/** Sends the datagrams in the queue.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	527	*
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	528	* \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	529	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	530	void ec_master_send_datagrams(ec_master_t master /< EtherCAT master /)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	531	{
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	532	ec_datagram_t datagram, next;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	533	size_t datagram_size;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	534	uint8_t frame_data, cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	535	void *follows_word;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	536	cycles_t cycles_start, cycles_sent, cycles_end;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	537	unsigned long jiffies_sent;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	538	unsigned int frame_count, more_datagrams_waiting;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	539	struct list_head sent_datagrams;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	540
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	541	cycles_start = get_cycles();
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	542	frame_count = 0;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	543	INIT_LIST_HEAD(&sent_datagrams);
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	544
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	545	if (unlikely(master->debug_level > 1))
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	546	EC_DBG("ec_master_send_datagrams\n");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	547
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	548	do {
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	549	// fetch pointer to transmit socket buffer
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	550	frame_data = ec_device_tx_data(&master->main_device);
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	551	cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	552	follows_word = NULL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	553	more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	554
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	555	// fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	556	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	557	if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	558
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	559	// does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	560	datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	561	+ EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	562	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	563	more_datagrams_waiting = 1;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	564	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	565	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	566
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	567	list_add_tail(&datagram->sent, &sent_datagrams);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	568	datagram->index = master->datagram_index++;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	569
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	570	if (unlikely(master->debug_level > 1))
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	571	EC_DBG("adding datagram 0x%02X\n", datagram->index);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	572
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	573	// set "datagram following" flag in previous frame
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	574	if (follows_word)
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	575	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	576
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	577	// EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	578	EC_WRITE_U8 (cur_data, datagram->type);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	579	EC_WRITE_U8 (cur_data + 1, datagram->index);
708 90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 697 diff changeset	580	memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	581	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	582	EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	583	follows_word = cur_data + 6;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	584	cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	585
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	586	// EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	587	memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	588	cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	589
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	590	// EtherCAT datagram footer
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	591	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	592	cur_data += EC_DATAGRAM_FOOTER_SIZE;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	593	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	594
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	595	if (list_empty(&sent_datagrams)) {
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	596	if (unlikely(master->debug_level > 1))
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	597	EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	598	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	599	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	600
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	601	// EtherCAT frame header
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	602	EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	603	- EC_FRAME_HEADER_SIZE) & 0x7FF) \| 0x1000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	604
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	605	// pad frame
211 c684b6b7adaf Using kernel Ethernet constants. Florian Pose <fp@igh-essen.com> parents: 208 diff changeset	606	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	607	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	608
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	609	if (unlikely(master->debug_level > 1))
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 958 diff changeset	610	EC_DBG("frame size: %u\n", cur_data - frame_data);
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	611
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	612	// send frame
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	613	ec_device_send(&master->main_device, cur_data - frame_data);
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	614	cycles_sent = get_cycles();
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	615	jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	616
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	617	// set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	618	list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	619	datagram->state = EC_DATAGRAM_SENT;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	620	datagram->cycles_sent = cycles_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	621	datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	622	list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	623	}
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	624
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	625	frame_count++;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	626	}
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	627	while (more_datagrams_waiting);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	628
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	629	if (unlikely(master->debug_level > 1)) {
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	630	cycles_end = get_cycles();
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 958 diff changeset	631	EC_DBG("ec_master_send_datagrams sent %u frames in %uus.\n",
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	632	frame_count,
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	633	(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	634	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	635	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	636
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	637	/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	638
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	639	/** Processes a received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	640	*
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	641	* This function is called by the network driver for every received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	642	*
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	643	* \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	644	*/
331 17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams(). Florian Pose <fp@igh-essen.com> parents: 330 diff changeset	645	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	646	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	647	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	648	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	649	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	650	size_t frame_size, data_size;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	651	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	652	unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	653	const uint8_t *cur_data;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	654	ec_datagram_t *datagram;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	655
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	656	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	657	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	658	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	659	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	660	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	661
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	662	cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	663
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	664	// 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	665	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	666	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	667
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	668	if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	669	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	670	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	671	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	672	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	673
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	674	cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	675	while (cmd_follows) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	676	// process datagram header
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	677	datagram_type = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	678	datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	679	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	680	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	681	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	682
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	683	if (unlikely(cur_data - frame_data
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	684	+ 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	685	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	686	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	687	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	688	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	689
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	690	// 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	691	matched = 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	692	list_for_each_entry(datagram, &master->datagram_queue, queue) {
690 5e231f6a3d2e Re-ordered criteria for datagram matching. Florian Pose <fp@igh-essen.com> parents: 688 diff changeset	693	if (datagram->index == datagram_index
5e231f6a3d2e Re-ordered criteria for datagram matching. Florian Pose <fp@igh-essen.com> parents: 688 diff changeset	694	&& datagram->state == EC_DATAGRAM_SENT
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	695	&& datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	696	&& 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	697	matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	698	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	699	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	700	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	701
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	702	// 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	703	if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	704	master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	705	ec_master_output_stats(master);
684 bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	706
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	707	if (unlikely(master->debug_level > 0)) {
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	708	EC_DBG("UNMATCHED datagram:\n");
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	709	ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	710	EC_DATAGRAM_HEADER_SIZE + data_size
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	711	+ EC_DATAGRAM_FOOTER_SIZE);
692 fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging Florian Pose <fp@igh-essen.com> parents: 691 diff changeset	712	#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging Florian Pose <fp@igh-essen.com> parents: 691 diff changeset	713	ec_device_debug_ring_print(&master->main_device);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging Florian Pose <fp@igh-essen.com> parents: 691 diff changeset	714	#endif
684 bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	715	}
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	716
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	717	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	718	continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	719	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	720
345 beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	721	// copy received data into the datagram memory
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	722	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	723	cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	724
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	725	// set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	726	datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	727	cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	728
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	729	// 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	730	datagram->state = EC_DATAGRAM_RECEIVED;
579 17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	731	datagram->cycles_received = master->main_device.cycles_poll;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach(). Florian Pose <fp@igh-essen.com> parents: 578 diff changeset	732	datagram->jiffies_received = master->main_device.jiffies_poll;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	733	list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	734	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	735	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	736
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	737	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	738
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	739	/** Output statistics in cyclic mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	740	*
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	741	* This function outputs statistical data on demand, but not more often than
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	742	* necessary. The output happens at most once a second.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	743	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	744	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	745	{
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	746	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	747	master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	748
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	749	if (master->stats.timeouts) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 958 diff changeset	750	EC_WARN("%u datagram%s TIMED OUT!\n", master->stats.timeouts,
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	751	master->stats.timeouts == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	752	master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	753	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	754	if (master->stats.corrupted) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 958 diff changeset	755	EC_WARN("%u frame%s CORRUPTED!\n", master->stats.corrupted,
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	756	master->stats.corrupted == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	757	master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	758	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	759	if (master->stats.unmatched) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 958 diff changeset	760	EC_WARN("%u datagram%s UNMATCHED!\n", master->stats.unmatched,
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	761	master->stats.unmatched == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	762	master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	763	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	764	}
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	765	}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	766
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	767	/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	768
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	769	/** Master kernel thread function for IDLE mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	770	*/
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	771	static int ec_master_idle_thread(ec_master_t *master)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	772	{
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	773	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	774
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	775	daemonize("EtherCAT-IDLE");
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	776	allow_signal(SIGTERM);
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	777
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	778	while (!signal_pending(current)) {
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	779	cycles_start = get_cycles();
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 715 diff changeset	780	ec_datagram_output_stats(&master->fsm_datagram);
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	781
691 77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	782	if (ec_fsm_master_running(&master->fsm)) { // datagram on the way
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	783	// receive
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	784	spin_lock_bh(&master->internal_lock);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	785	ecrt_master_receive(master);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	786	spin_unlock_bh(&master->internal_lock);
691 77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	787
77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	788	if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	789	goto schedule;
77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	790	}
651 8c11399cc911 Fixed skipped datagrams when not in FSM idle phase. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	791
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	792	// execute master state machine
691 77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	793	if (ec_fsm_master_exec(&master->fsm)) { // datagram ready for sending
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	794	// queue and send
691 77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	795	spin_lock_bh(&master->internal_lock);
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	796	ec_master_queue_datagram(master, &master->fsm_datagram);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	797	ecrt_master_send(master);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	798	spin_unlock_bh(&master->internal_lock);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	799	}
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	800
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	801	cycles_end = get_cycles();
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	802	master->idle_cycle_times[master->idle_cycle_time_pos]
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	803	= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	804	master->idle_cycle_time_pos++;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	805	master->idle_cycle_time_pos %= HZ;
8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	806
651 8c11399cc911 Fixed skipped datagrams when not in FSM idle phase. Florian Pose <fp@igh-essen.com> parents: 650 diff changeset	807	schedule:
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	808	if (ec_fsm_master_idle(&master->fsm)) {
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	809	set_current_state(TASK_INTERRUPTIBLE);
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	810	schedule_timeout(1);
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	811	}
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	812	else {
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	813	schedule();
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	814	}
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	815	}
518 b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode. Florian Pose <fp@igh-essen.com> parents: 517 diff changeset	816
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	817	master->thread_id = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	818	if (master->debug_level)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	819	EC_DBG("Master IDLE thread exiting...\n");
525 8b20781bd1e0 Master workqueue replaced with kernel thread. Florian Pose <fp@igh-essen.com> parents: 524 diff changeset	820	complete_and_exit(&master->thread_exit, 0);
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	821	}
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	822
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	823	/*****************************************************************************/
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	824
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	825	/** Master kernel thread function for IDLE mode.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	826	*/
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	827	static int ec_master_operation_thread(ec_master_t *master)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	828	{
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	829	cycles_t cycles_start, cycles_end;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	830
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	831	daemonize("EtherCAT-OP");
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	832	allow_signal(SIGTERM);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	833
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	834	while (!signal_pending(current)) {
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 715 diff changeset	835	ec_datagram_output_stats(&master->fsm_datagram);
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	836	if (master->injection_seq_rt != master->injection_seq_fsm \|\|
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	837	master->fsm_datagram.state == EC_DATAGRAM_SENT \|\|
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	838	master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	839	goto schedule;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	840
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	841	cycles_start = get_cycles();
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	842
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	843	// output statistics
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	844	ec_master_output_stats(master);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	845
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	846	// execute master state machine
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	847	if (ec_fsm_master_exec(&master->fsm)) {
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	848	// inject datagram
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	849	master->injection_seq_fsm++;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	850	}
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	851
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	852	cycles_end = get_cycles();
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	853	master->idle_cycle_times[master->idle_cycle_time_pos]
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	854	= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	855	master->idle_cycle_time_pos++;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	856	master->idle_cycle_time_pos %= HZ;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	857
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	858	schedule:
650 c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	859	if (ec_fsm_master_idle(&master->fsm)) {
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	860	set_current_state(TASK_INTERRUPTIBLE);
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	861	schedule_timeout(1);
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	862	}
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	863	else {
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	864	schedule();
c68995623e94 Introduced idle flag in master state machine. Florian Pose <fp@igh-essen.com> parents: 648 diff changeset	865	}
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	866	}
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	867
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	868	master->thread_id = 0;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	869	if (master->debug_level)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	870	EC_DBG("Master OP thread exiting...\n");
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	871	complete_and_exit(&master->thread_exit, 0);
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	872	}
578 f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device Florian Pose <fp@igh-essen.com> parents: 576 diff changeset	873
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device Florian Pose <fp@igh-essen.com> parents: 576 diff changeset	874	/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device Florian Pose <fp@igh-essen.com> parents: 576 diff changeset	875
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	876	#ifdef EC_EOE
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	877	/** Starts Ethernet-over-EtherCAT processing on demand.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	878	*/
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	879	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	880	{
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	881	if (master->eoe_running) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	882	EC_WARN("EoE already running!\n");
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	883	return;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	884	}
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	885
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	886	if (list_empty(&master->eoe_handlers))
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	887	return;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	888
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	889	if (!master->request_cb \|\| !master->release_cb) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	890	EC_WARN("No EoE processing because of missing locking callbacks!\n");
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	891	return;
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
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	894	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	895	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	896
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	897	// start EoE processing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	898	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	899	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	900	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	901
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	902	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	903
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	904	/** Stops the Ethernet-over-EtherCAT processing.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	905	*/
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	906	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	907	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	908	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	909
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	910	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	911
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	912	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	913	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	914	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	915
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	916	/*****************************************************************************/
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	917
997 652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	918	/** Does the Ethernet-over-EtherCAT processing.
652180478e95 Removed kobject from master and module. Sysfs is gone! Florian Pose <fp@igh-essen.com> parents: 995 diff changeset	919	*/
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	920	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	921	{
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 204 diff changeset	922	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	923	ec_eoe_t *eoe;
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	924	unsigned int none_open = 1;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	925	cycles_t cycles_start, cycles_end;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	926	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	927
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	928	list_for_each_entry(eoe, &master->eoe_handlers, list) {
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	929	if (ec_eoe_is_open(eoe)) {
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	930	none_open = 0;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	931	break;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	932	}
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	933	}
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	934	if (none_open)
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	935	goto queue_timer;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	936
721 ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	937	// receive datagrams
663 38d9c37664d9 Completely lock master while an EoE cycle is executing. Florian Pose <fp@igh-essen.com> parents: 661 diff changeset	938	if (master->request_cb(master->cb_data)) goto queue_timer;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	939	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	940	ecrt_master_receive(master);
721 ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	941	master->release_cb(master->cb_data);
515 37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	942
37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	943	// actual EoE processing
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	944	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	945	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	946	}
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	947
515 37aa1bfa0dee Internal locking callbacks, improved locking. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	948	// send datagrams
721 ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	949	if (master->request_cb(master->cb_data)) {
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	950	goto queue_timer;
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	951	}
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	952	list_for_each_entry(eoe, &master->eoe_handlers, list) {
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	953	ec_eoe_queue(eoe);
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	954	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	955	ecrt_master_send(master);
721 ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	956	master->release_cb(master->cb_data);
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	957	cycles_end = get_cycles();
663 38d9c37664d9 Completely lock master while an EoE cycle is executing. Florian Pose <fp@igh-essen.com> parents: 661 diff changeset	958
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	959	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	960	= (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	961	master->eoe_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	962	master->eoe_cycle_time_pos %= HZ;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	963
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	964	queue_timer:
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	965	restart_jiffies = HZ / EC_EOE_FREQUENCY;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	966	if (!restart_jiffies) restart_jiffies = 1;
721 ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock Florian Pose <fp@igh-essen.com> parents: 720 diff changeset	967	master->eoe_timer.expires = jiffies + restart_jiffies;
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	968	add_timer(&master->eoe_timer);
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	969	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	970	#endif
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	971
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	972	/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	973
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	974	/** Detaches the slave configurations from the slaves.
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	975	*/
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	976	void ec_master_detach_slave_configs(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	977	ec_master_t master /< EtherCAT master. /
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	978	)
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	979	{
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	980	ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	981
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	982	if (!master->configs_attached)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	983	return;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	984
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	985	list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	986	ec_slave_config_detach(sc);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	987	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	988
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	989	master->configs_attached = 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	990	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	991
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	992	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	993
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	994	/** Attaches the slave configurations to the slaves.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	995	*/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	996	int ec_master_attach_slave_configs(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	997	ec_master_t master /< EtherCAT master. /
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	998	)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	999	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1000	ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1001	unsigned int errors = 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1002
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1003	if (master->configs_attached)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1004	return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1005
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1006	list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1007	if (ec_slave_config_attach(sc))
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1008	errors = 1;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1009	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1010
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1011	master->configs_attached = !errors;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1012	return errors ? -1 : 0;
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1013	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1014
927 ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1015	/*****************************************************************************/
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1016
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1017	/** Finds a slave in the bus, given the alias and position.
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1018	*/
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1019	ec_slave_t *ec_master_find_slave(
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1020	ec_master_t master, /< EtherCAT master. /
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1021	uint16_t alias, /*< Slave alias. /
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1022	uint16_t position /*< Slave position. /
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1023	)
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1024	{
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1025	ec_slave_t *slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1026
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1027	if (alias) {
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1028	// find slave with the given alias
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1029	for (; slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1030	slave++) {
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1031	if (slave->sii.alias != alias)
927 ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1032	continue;
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1033	}
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1034	if (slave == master->slaves + master->slave_count)
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1035	return NULL;
927 ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1036	}
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1037
1000 5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1038	slave += position;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1039	if (slave < master->slaves + master->slave_count) {
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1040	return slave;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1041	} else {
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1042	return NULL;
5746fdd1ca2e Store slaves in an array instead of a list. Florian Pose <fp@igh-essen.com> parents: 997 diff changeset	1043	}
927 ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1044	}
ffb7d1876ce0 Introduced ec_master_find_slave(). Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1045
946 6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1046	/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1047
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1048	unsigned int ec_master_config_count(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1049	const ec_master_t master /< EtherCAT master. /
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1050	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1051	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1052	const ec_slave_config_t *sc;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1053	unsigned int count = 0;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1054
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1055	list_for_each_entry(sc, &master->configs, list) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1056	count++;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1057	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1058
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1059	return count;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1060	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1061
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1062	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1063
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1064	const ec_slave_config_t *ec_master_get_config_const(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1065	const ec_master_t master, /< EtherCAT master. /
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1066	unsigned int index /*< List position. /
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1067	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1068	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1069	const ec_slave_config_t *sc;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1070
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1071	list_for_each_entry(sc, &master->configs, list) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1072	if (index--)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1073	continue;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1074	return sc;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1075	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1076
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1077	return NULL;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1078	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1079
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1080	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1081
946 6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1082	unsigned int ec_master_domain_count(
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1083	const ec_master_t master /< EtherCAT master. /
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1084	)
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1085	{
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1086	const ec_domain_t *domain;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1087	unsigned int count = 0;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1088
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1089	list_for_each_entry(domain, &master->domains, list) {
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1090	count++;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1091	}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1092
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1093	return count;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1094	}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1095
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1096	/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1097
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1098	ec_domain_t *ec_master_find_domain(
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1099	ec_master_t master, /< EtherCAT master. /
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1100	unsigned int index /*< Domain index. /
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1101	)
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1102	{
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1103	ec_domain_t *domain;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1104
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1105	list_for_each_entry(domain, &master->domains, list) {
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1106	if (index--)
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1107	continue;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1108	return domain;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1109	}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1110
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1111	return NULL;
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1112	}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain(). Florian Pose <fp@igh-essen.com> parents: 927 diff changeset	1113
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1114	/*****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1115
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1116	int ec_master_debug_level(
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1117	ec_master_t *master,
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1118	int level
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1119	)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1120	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1121	if (level < 0 \|\| level > 2) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1122	EC_ERR("Invalid debug level %i!\n", level);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1123	return -1;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1124	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1125
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1126	if (level != master->debug_level) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1127	master->debug_level = level;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1128	EC_INFO("Master debug level set to %i.\n", master->debug_level);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1129	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1130
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1131	return 0;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1132	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 946 diff changeset	1133
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1134	/******************************************************************************
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1135	* Realtime interface
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1136	*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1137
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1138	ec_domain_t ecrt_master_create_domain(ec_master_t master /*< master /)
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1139	{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1140	ec_domain_t domain, last_domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1141	unsigned int index;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1142
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1143	if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1144	EC_ERR("Error allocating domain memory!\n");
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1145	return NULL;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1146	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1147
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	1148	if (list_empty(&master->domains)) {
8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	1149	index = 0;
8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	1150	} else {
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1151	last_domain = list_entry(master->domains.prev, ec_domain_t, list);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1152	index = last_domain->index + 1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1153	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1154
993 8c32564252fd Removed kobject from domain. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	1155	ec_domain_init(domain, master, index);
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1156	list_add_tail(&domain->list, &master->domains);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1157
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1158	return domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1159	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1160
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1161	/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1162
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1163	int ecrt_master_activate(ec_master_t *master)
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1164	{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1165	uint32_t domain_offset;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1166	ec_domain_t *domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1167
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1168	// finish all domains
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1169	domain_offset = 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1170	list_for_each_entry(domain, &master->domains, list) {
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1171	if (ec_domain_finish(domain, domain_offset)) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1172	EC_ERR("Failed to finish domain 0x%08X!\n", (u32) domain);
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1173	return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1174	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1175	domain_offset += domain->data_size;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1176	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1177
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1178	// restart EoE process and master thread with new locking
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	1179	#ifdef EC_EOE
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1180	ec_master_eoe_stop(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	1181	#endif
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1182	ec_master_thread_stop(master);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1183
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1184	if (master->debug_level)
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1185	EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1186
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1187	master->injection_seq_fsm = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1188	master->injection_seq_rt = 0;
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1189	master->request_cb = master->ext_request_cb;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1190	master->release_cb = master->ext_release_cb;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1191	master->cb_data = master->ext_cb_data;
656 370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1192
370aa8c2d1b1 Slave configuration exclusively from master thread; removed Florian Pose <fp@igh-essen.com> parents: 651 diff changeset	1193	if (ec_master_thread_start(master, ec_master_operation_thread)) {
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1194	EC_ERR("Failed to start master thread!\n");
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1195	return -1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1196	}
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	1197	#ifdef EC_EOE
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1198	ec_master_eoe_start(master);
715 f12ff7c08623 Added --enable-eoe conditional. Florian Pose <fp@igh-essen.com> parents: 714 diff changeset	1199	#endif
902 ad703091a32b Moved setting of the allow flags. Florian Pose <fp@igh-essen.com> parents: 901 diff changeset	1200
ad703091a32b Moved setting of the allow flags. Florian Pose <fp@igh-essen.com> parents: 901 diff changeset	1201	master->allow_config = 1; // request the current configuration
ad703091a32b Moved setting of the allow flags. Florian Pose <fp@igh-essen.com> parents: 901 diff changeset	1202	master->allow_scan = 1; // allow re-scanning on topology change
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1203	return 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1204	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1205
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1206	/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1207
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1208	void ecrt_master_send(ec_master_t *master)
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1209	{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1210	ec_datagram_t datagram, n;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1211
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1212	if (master->injection_seq_rt != master->injection_seq_fsm) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1213	// inject datagram produced by master FSM
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1214	ec_master_queue_datagram(master, &master->fsm_datagram);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1215	master->injection_seq_rt = master->injection_seq_fsm;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1216	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1217
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1218	if (unlikely(!master->main_device.link_state)) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1219	// link is down, no datagram can be sent
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1220	list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1221	datagram->state = EC_DATAGRAM_ERROR;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1222	list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1223	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1224
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1225	// query link state
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1226	ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1227	return;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1228	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1229
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1230	// send frames
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1231	ec_master_send_datagrams(master);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1232	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1233
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1234	/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1235
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1236	void ecrt_master_receive(ec_master_t *master)
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1237	{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1238	ec_datagram_t datagram, next;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1239	cycles_t cycles_timeout;
664 18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is Florian Pose <fp@igh-essen.com> parents: 663 diff changeset	1240	unsigned int frames_timed_out = 0;
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1241
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1242	// receive datagrams
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1243	ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1244
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1245	cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1246
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1247	// dequeue all datagrams that timed out
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1248	list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1249	if (datagram->state != EC_DATAGRAM_SENT) continue;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1250
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1251	if (master->main_device.cycles_poll - datagram->cycles_sent
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1252	> cycles_timeout) {
664 18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is Florian Pose <fp@igh-essen.com> parents: 663 diff changeset	1253	frames_timed_out = 1;
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1254	list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1255	datagram->state = EC_DATAGRAM_TIMED_OUT;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1256	master->stats.timeouts++;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1257	ec_master_output_stats(master);
684 bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	1258
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	1259	if (unlikely(master->debug_level > 0)) {
691 77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	1260	EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
77b79a29e0e7 Included datagram queuing in critical section in idle task; added some Florian Pose <fp@igh-essen.com> parents: 690 diff changeset	1261	(unsigned int) datagram, datagram->index,
684 bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	1262	(unsigned int) (master->main_device.cycles_poll
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	1263	- datagram->cycles_sent) * 1000 / cpu_khz);
bf991809dcf0 Added debugging output for unmatched frames and those that timed out. Florian Pose <fp@igh-essen.com> parents: 664 diff changeset	1264	}
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1265	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1266	}
664 18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is Florian Pose <fp@igh-essen.com> parents: 663 diff changeset	1267
18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is Florian Pose <fp@igh-essen.com> parents: 663 diff changeset	1268	master->frames_timed_out = frames_timed_out;
640 16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1269	}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1270
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1271	/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 639 diff changeset	1272
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1273	ec_slave_config_t ecrt_master_slave_config(ec_master_t master,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1274	uint16_t alias, uint16_t position, uint32_t vendor_id,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1275	uint32_t product_code)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1276	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1277	ec_slave_config_t *sc;
697 6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1278	unsigned int found = 0;
6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1279
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1280	list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1281	if (sc->alias == alias && sc->position == position) {
697 6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1282	found = 1;
6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1283	break;
6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1284	}
6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1285	}
6f658c2082fd Added ecrt_master_get_slave_by_pos(). Florian Pose <fp@igh-essen.com> parents: 692 diff changeset	1286
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1287	if (found) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1288	if (master->debug_level) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1289	EC_INFO("Using existing slave configuration for %u:%u\n",
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1290	alias, position);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1291	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1292	if (sc->vendor_id != vendor_id \|\| sc->product_code != product_code) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1293	EC_ERR("Slave type mismatch. Slave was configured as"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1294	" 0x%08X/0x%08X before. Now configuring with"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1295	" 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1296	vendor_id, product_code);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1297	return NULL;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1298	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1299	} else {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1300	if (master->debug_level) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1301	EC_INFO("Creating slave configuration for %u:%u,"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1302	" 0x%08X/0x%08X.\n", alias, position, vendor_id,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1303	product_code);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1304	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1305
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1306	if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1307	GFP_KERNEL))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1308	EC_ERR("Failed to allocate memory for slave configuration.\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1309	return NULL;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1310	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1311
995 54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	1312	ec_slave_config_init(sc, master,
54149a703c47 Removed kobject from slave_config. Florian Pose <fp@igh-essen.com> parents: 994 diff changeset	1313	alias, position, vendor_id, product_code);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1314
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1315	// try to find the addressed slave
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1316	ec_slave_config_attach(sc);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 872 diff changeset	1317	ec_slave_config_load_default_assignment(sc);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1318
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1319	list_add_tail(&sc->list, &master->configs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1320	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1321
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1322	return sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1323	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1324
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1325	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1326
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1327	void ecrt_master_callbacks(ec_master_t master, int (request_cb)(void *),
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1328	void (release_cb)(void ), void *cb_data)
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1329	{
661 bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1330	master->ext_request_cb = request_cb;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1331	master->ext_release_cb = release_cb;
bc1de1362efb Dynamic creation of EoE handlers. Florian Pose <fp@igh-essen.com> parents: 659 diff changeset	1332	master->ext_cb_data = cb_data;
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1333	}
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1334
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1335	/*****************************************************************************/
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1336
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1337	void ecrt_master_state(const ec_master_t master, ec_master_state_t state)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1338	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1339	state->slaves_responding = master->fsm.slaves_responding;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 610 diff changeset	1340	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 610 diff changeset	1341
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 610 diff changeset	1342	/*****************************************************************************/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 610 diff changeset	1343
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1344	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1345
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1346	EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1347	EXPORT_SYMBOL(ecrt_master_activate);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1348	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	1349	EXPORT_SYMBOL(ecrt_master_receive);
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 204 diff changeset	1350	EXPORT_SYMBOL(ecrt_master_callbacks);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1351	EXPORT_SYMBOL(ecrt_master_slave_config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	1352	EXPORT_SYMBOL(ecrt_master_state);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1353
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1354	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1355
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1356	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 12 Jun 2008 09:32:25 +0000
changeset 1000	5746fdd1ca2e
parent 997	652180478e95
child 1004	990b89d8ad03
permissions	-rw-r--r--