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/******************************************************************************

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 *

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 *  $Id$

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 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; version 2 of the License.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *****************************************************************************/

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    24

/**

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   \file

    26

   EtherCAT master methods.

    27

*/

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    29

/*****************************************************************************/

    30

    31

#include <linux/module.h>

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#include <linux/kernel.h>

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#include <linux/string.h>

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#include <linux/slab.h>

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#include <linux/delay.h>

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "master.h"

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#include "slave.h"

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#include "types.h"

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#include "device.h"

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#include "command.h"

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#include "ethernet.h"

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    46

/*****************************************************************************/

    47

    48

void ec_master_freerun(unsigned long);

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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

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void ec_master_process_watch_command(ec_master_t *);

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    52

/*****************************************************************************/

    53

    54

/** \cond */

    55

    56

EC_SYSFS_READ_ATTR(slave_count);

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EC_SYSFS_READ_ATTR(mode);

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    59

static struct attribute *ec_def_attrs[] = {

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    &attr_slave_count,

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    &attr_mode,

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    NULL,

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};

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static struct sysfs_ops ec_sysfs_ops = {

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    .show = &ec_show_master_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_master = {

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    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

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};

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/** \endcond */

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/*****************************************************************************/

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/**

    81

   Master constructor.

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   \return 0 in case of success, else < 0

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*/

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int ec_master_init(ec_master_t *master, /**< EtherCAT master */

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                   unsigned int index /**< master index */

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                   )

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{

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    EC_INFO("Initializing master %i.\n", index);

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    master->index = index;

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    master->device = NULL;

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    master->reserved = 0;

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    INIT_LIST_HEAD(&master->slaves);

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    INIT_LIST_HEAD(&master->command_queue);

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    INIT_LIST_HEAD(&master->domains);

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    INIT_LIST_HEAD(&master->eoe_slaves);

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    // init kobject and add it to the hierarchy

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    memset(&master->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

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    if (kobject_set_name(&master->kobj, "ethercat%i", index)) {

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        EC_ERR("Failed to set kobj name.\n");

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        kobject_put(&master->kobj);

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        return -1;

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    }

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   110

    // init freerun timer

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    init_timer(&master->freerun_timer);

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    master->freerun_timer.function = ec_master_freerun;

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    master->freerun_timer.data = (unsigned long) master;

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   115

    ec_command_init(&master->simple_command);

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    ec_command_init(&master->watch_command);

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   118

    ec_master_reset(master);

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    return 0;

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}

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/*****************************************************************************/

   123

   124

/**

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   Master destructor.

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   Removes all pending commands, clears the slave list, clears all domains

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   and frees the device.

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*/

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void ec_master_clear(struct kobject *kobj /**< kobject of the master */)

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{

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    ec_master_t *master = container_of(kobj, ec_master_t, kobj);

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    EC_INFO("Clearing master %i...\n", master->index);

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    del_timer_sync(&master->freerun_timer);

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    ec_master_reset(master);

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    if (master->device) {

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        ec_device_clear(master->device);

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        kfree(master->device);

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    }

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    ec_command_clear(&master->simple_command);

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    ec_command_clear(&master->watch_command);

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    EC_INFO("Master %i cleared.\n", master->index);

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}

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/*****************************************************************************/

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/**

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   Resets the master.

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   Note: This function has to be called, everytime ec_master_release() is

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   called, to free the slave list, domains etc.

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*/

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void ec_master_reset(ec_master_t *master /**< EtherCAT master */)

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{

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    ec_slave_t *slave, *next_s;

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    ec_command_t *command, *next_c;

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    ec_domain_t *domain, *next_d;

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    ec_eoe_t *eoe, *next_eoe;

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    ec_master_freerun_stop(master);

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    // remove all slaves

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    list_for_each_entry_safe(slave, next_s, &master->slaves, list) {

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        list_del(&slave->list);

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        kobject_del(&slave->kobj);

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        kobject_put(&slave->kobj);

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    }

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    master->slave_count = 0;

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    // empty command queue

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    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

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        list_del_init(&command->queue);

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        command->state = EC_CMD_ERROR;

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    }

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   182

    // clear domains

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    list_for_each_entry_safe(domain, next_d, &master->domains, list) {

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        list_del(&domain->list);

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        kobject_del(&domain->kobj);

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        kobject_put(&domain->kobj);

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    }

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    // clear EoE objects

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    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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   196

    master->command_index = 0;

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    master->debug_level = 0;

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    master->timeout = 500; // 500us

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    master->slaves_responding = 0;

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    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

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    master->stats.timeouts = 0;

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    master->stats.delayed = 0;

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    master->stats.corrupted = 0;

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    master->stats.unmatched = 0;

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    master->stats.eoe_errors = 0;

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    master->stats.t_last = 0;

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    master->mode = EC_MASTER_MODE_IDLE;

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}

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/*****************************************************************************/

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/**

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   Places a command in the command queue.

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*/

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void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

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                             ec_command_t *command /**< command */

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                             )

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{

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    ec_command_t *queued_command;

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   229

    // check, if the command is already queued

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    list_for_each_entry(queued_command, &master->command_queue, queue) {

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        if (queued_command == command) {

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            command->state = EC_CMD_QUEUED;

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            if (unlikely(master->debug_level))

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                EC_WARN("command already queued.\n");

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            return;

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        }

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    }

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    list_add_tail(&command->queue, &master->command_queue);

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    command->state = EC_CMD_QUEUED;

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}

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/*****************************************************************************/

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   245

/**

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   Sends the commands in the queue.

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   \return 0 in case of success, else < 0

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*/

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void ec_master_send_commands(ec_master_t *master /**< EtherCAT master */)

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{

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    ec_command_t *command;

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    size_t command_size;

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    uint8_t *frame_data, *cur_data;

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    void *follows_word;

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    cycles_t start = 0, end;

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    unsigned int frame_count, more_commands_waiting;

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    frame_count = 0;

   260

   261

    if (unlikely(master->debug_level > 0)) {

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        EC_DBG("ec_master_send_commands\n");

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        start = get_cycles();

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    }

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    do {

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        // fetch pointer to transmit socket buffer

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        frame_data = ec_device_tx_data(master->device);

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        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

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        follows_word = NULL;

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        more_commands_waiting = 0;

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        // fill current frame with commands

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        list_for_each_entry(command, &master->command_queue, queue) {

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            if (command->state != EC_CMD_QUEUED) continue;

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            // does the current command fit in the frame?

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            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

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                + EC_COMMAND_FOOTER_SIZE;

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            if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {

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                more_commands_waiting = 1;

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                break;

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            }

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            command->state = EC_CMD_SENT;

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            command->index = master->command_index++;

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            if (unlikely(master->debug_level > 0))

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                EC_DBG("adding command 0x%02X\n", command->index);

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   291

            // set "command following" flag in previous frame

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            if (follows_word)

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                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

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            // EtherCAT command header

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            EC_WRITE_U8 (cur_data,     command->type);

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            EC_WRITE_U8 (cur_data + 1, command->index);

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            EC_WRITE_U32(cur_data + 2, command->address.logical);

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            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

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            EC_WRITE_U16(cur_data + 8, 0x0000);

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            follows_word = cur_data + 6;

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            cur_data += EC_COMMAND_HEADER_SIZE;

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            // EtherCAT command data

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            memcpy(cur_data, command->data, command->data_size);

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            cur_data += command->data_size;

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            // EtherCAT command footer

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            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

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            cur_data += EC_COMMAND_FOOTER_SIZE;

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        }

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   313

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   314

            if (unlikely(master->debug_level > 0))

   315

                EC_DBG("nothing to send.\n");

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            break;

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        }

   318

   319

        // EtherCAT frame header

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        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   321

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

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   323

        // pad frame

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        while (cur_data - frame_data < EC_MIN_FRAME_SIZE)

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            EC_WRITE_U8(cur_data++, 0x00);

   326

   327

        if (unlikely(master->debug_level > 0))

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            EC_DBG("frame size: %i\n", cur_data - frame_data);

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   330

        // send frame

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        ec_device_send(master->device, cur_data - frame_data);

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        frame_count++;

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    }

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    while (more_commands_waiting);

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   336

    if (unlikely(master->debug_level > 0)) {

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        end = get_cycles();

   338

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

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               frame_count, (u32) (end - start) * 1000 / cpu_khz);

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    }

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}

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   343

/*****************************************************************************/

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   345

/**

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   Processes a received frame.

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   This function is called by the network driver for every received frame.

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   \return 0 in case of success, else < 0

   349

*/

   350

   351

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

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                       const uint8_t *frame_data, /**< received data */

   353

                       size_t size /**< size of the received data */

   354

                       )

   355

{

   356

    size_t frame_size, data_size;

   357

    uint8_t command_type, command_index;

   358

    unsigned int cmd_follows, matched;

   359

    const uint8_t *cur_data;

   360

    ec_command_t *command;

   361

   362

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   363

        master->stats.corrupted++;

   364

        ec_master_output_stats(master);

   365

        return;

   366

    }

   367

   368

    cur_data = frame_data;

   369

   370

    // check length of entire frame

   371

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   372

    cur_data += EC_FRAME_HEADER_SIZE;

   373

   374

    if (unlikely(frame_size > size)) {

   375

        master->stats.corrupted++;

   376

        ec_master_output_stats(master);

   377

        return;

   378

    }

   379

   380

    cmd_follows = 1;

   381

    while (cmd_follows) {

   382

        // process command header

   383

        command_type  = EC_READ_U8 (cur_data);

   384

        command_index = EC_READ_U8 (cur_data + 1);

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        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

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        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

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        cur_data += EC_COMMAND_HEADER_SIZE;

   388

   389

        if (unlikely(cur_data - frame_data

   390

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   391

            master->stats.corrupted++;

   392

            ec_master_output_stats(master);

   393

            return;

   394

        }

   395

   396

        // search for matching command in the queue

   397

        matched = 0;

   398

        list_for_each_entry(command, &master->command_queue, queue) {

   399

            if (command->state == EC_CMD_SENT

   400

                && command->type == command_type

   401

                && command->index == command_index

   402

                && command->data_size == data_size) {

   403

                matched = 1;

   404

                break;

   405

            }

   406

        }

   407

   408

        // no matching command was found

   409

        if (!matched) {

   410

            master->stats.unmatched++;

   411

            ec_master_output_stats(master);

   412

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   413

            continue;

   414

        }

   415

   416

        // copy received data in the command memory

   417

        memcpy(command->data, cur_data, data_size);

   418

        cur_data += data_size;

   419

   420

        // set the command's working counter

   421

        command->working_counter = EC_READ_U16(cur_data);

   422

        cur_data += EC_COMMAND_FOOTER_SIZE;

   423

   424

        // dequeue the received command

   425

        command->state = EC_CMD_RECEIVED;

   426

        list_del_init(&command->queue);

   427

    }

   428

}

   429

   430

/*****************************************************************************/

   431

   432

/**

   433

   Sends a single command and waits for its reception.

   434

   If the slave doesn't respond, the command is sent again.

   435

   \return 0 in case of success, else < 0

   436

*/

   437

   438

int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */

   439

                        ec_command_t *command /**< command */

   440

                        )

   441

{

   442

    unsigned int response_tries_left;

   443

   444

    response_tries_left = 10;

   445

   446

    while (1)

   447

    {

   448

        ec_master_queue_command(master, command);

   449

        ecrt_master_sync_io(master);

   450

   451

        if (command->state == EC_CMD_RECEIVED) {

   452

            if (likely(command->working_counter))

   453

                return 0;

   454

        }

   455

        else if (command->state == EC_CMD_TIMEOUT) {

   456

            EC_ERR("Simple-IO TIMEOUT!\n");

   457

            return -1;

   458

        }

   459

        else if (command->state == EC_CMD_ERROR) {

   460

            EC_ERR("Simple-IO command error!\n");

   461

            return -1;

   462

        }

   463

   464

        // no direct response, wait a little bit...

   465

        udelay(100);

   466

   467

        if (unlikely(--response_tries_left)) {

   468

            EC_ERR("No response in simple-IO!\n");

   469

            return -1;

   470

        }

   471

    }

   472

}

   473

   474

/*****************************************************************************/

   475

   476

/**

   477

   Scans the EtherCAT bus for slaves.

   478

   Creates a list of slave structures for further processing.

   479

   \return 0 in case of success, else < 0

   480

*/

   481

   482

int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)

   483

{

   484

    ec_slave_t *slave, *next;

   485

    ec_slave_ident_t *ident;

   486

    unsigned int i;

   487

    ec_command_t *command;