master/master.c
author Florian Pose <fp@igh-essen.com>
Fri, 26 May 2006 14:26:57 +0000
changeset 260 5fe7df7f2433
parent 259 87b20532872b
child 261 44a3a5833c49
permissions -rw-r--r--
Correct behaviour of master state machine in RT mode.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/string.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include "../include/ecrt.h"
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#include "globals.h"
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#include "master.h"
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#include "slave.h"
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#include "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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/*****************************************************************************/
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void ec_master_freerun(void *);
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void ec_master_eoe_run(unsigned long);
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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(slave_count);
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EC_SYSFS_READ_ATTR(mode);
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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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/**
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   Master constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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                   unsigned int index, /**< master index */
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                   unsigned int eoe_devices /**< number of EoE devices */
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                   )
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{
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    ec_eoe_t *eoe, *next_eoe;
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    unsigned int i;
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    EC_INFO("Initializing master %i.\n", index);
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    master->index = index;
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    master->device = NULL;
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    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_handlers);
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    ec_command_init(&master->simple_command);
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    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
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    init_timer(&master->eoe_timer);
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    master->eoe_timer.function = ec_master_eoe_run;
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    master->eoe_timer.data = (unsigned long) master;
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    master->internal_lock = SPIN_LOCK_UNLOCKED;
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    master->eoe_running = 0;
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    // create workqueue
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    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
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        EC_ERR("Failed to create master workqueue.\n");
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        goto out_return;
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    }
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    // create EoE handlers
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    for (i = 0; i < eoe_devices; i++) {
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        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
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            EC_ERR("Failed to allocate EoE-Object.\n");
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diff changeset
   130
            goto out_clear_eoe;
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diff changeset
   131
        }
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diff changeset
   132
        if (ec_eoe_init(eoe)) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   133
            kfree(eoe);
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diff changeset
   134
            goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   135
        }
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diff changeset
   136
        list_add_tail(&eoe->list, &master->eoe_handlers);
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diff changeset
   137
    }
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diff changeset
   138
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diff changeset
   139
    // create state machine object
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diff changeset
   140
    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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diff changeset
   141
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   142
    // init kobject and add it to the hierarchy
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   143
    memset(&master->kobj, 0x00, sizeof(struct kobject));
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diff changeset
   144
    kobject_init(&master->kobj);
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diff changeset
   145
    master->kobj.ktype = &ktype_ec_master;
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diff changeset
   146
    if (kobject_set_name(&master->kobj, "ethercat%i", index)) {
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diff changeset
   147
        EC_ERR("Failed to set kobj name.\n");
238
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   148
        kobject_put(&master->kobj);
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diff changeset
   149
        return -1;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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diff changeset
   150
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   151
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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   152
    ec_master_reset(master);
178
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diff changeset
   153
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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diff changeset
   154
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   155
 out_clear_eoe:
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   156
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   157
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   158
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   159
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   160
    }
238
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   161
    destroy_workqueue(master->workqueue);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
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diff changeset
   162
 out_return:
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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diff changeset
   163
    return -1;
0
05c992bf5847 trunk, tags und branches
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diff changeset
   164
}
05c992bf5847 trunk, tags und branches
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diff changeset
   165
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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diff changeset
   166
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
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   167
05c992bf5847 trunk, tags und branches
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   168
/**
195
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   169
   Master destructor.
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   170
   Removes all pending commands, clears the slave list, clears all domains
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   171
   and frees the device.
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diff changeset
   172
*/
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diff changeset
   173
674071846ee3 Translated all comments and documentation to english language.
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   174
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
178
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diff changeset
   175
{
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diff changeset
   176
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   177
    ec_eoe_t *eoe, *next_eoe;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   178
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diff changeset
   179
    EC_INFO("Clearing master %i...\n", master->index);
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diff changeset
   180
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   181
    ec_master_reset(master);
238
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   182
    ec_fsm_clear(&master->fsm);
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   183
    ec_command_clear(&master->simple_command);
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   184
    destroy_workqueue(master->workqueue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   185
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   186
    // clear EoE objects
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   187
    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   188
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   189
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   190
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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parents: 246
diff changeset
   191
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
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diff changeset
   192
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   193
    if (master->device) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   194
        ec_device_clear(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   195
        kfree(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   196
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   197
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   198
    EC_INFO("Master %i cleared.\n", master->index);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   199
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 68
diff changeset
   200
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   201
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   202
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   203
/**
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   204
   Resets the master.
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   205
   Note: This function has to be called, everytime ec_master_release() is
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   206
   called, to free the slave list, domains etc.
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   207
*/
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   208
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   209
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
56
36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt.
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parents: 55
diff changeset
   210
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   211
    ec_command_t *command, *next_c;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   212
    ec_domain_t *domain, *next_d;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   213
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   214
    ec_master_eoe_stop(master);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   215
    ec_master_freerun_stop(master);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   216
    ec_master_clear_slaves(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   217
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   218
    // empty command queue
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   219
    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   220
        list_del_init(&command->queue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   221
        command->state = EC_CMD_ERROR;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   222
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   223
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   224
    // clear domains
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   225
    list_for_each_entry_safe(domain, next_d, &master->domains, list) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   226
        list_del(&domain->list);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   227
        kobject_del(&domain->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents: 176
diff changeset
   228
        kobject_put(&domain->kobj);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   229
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   230
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   231
    master->command_index = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   232
    master->debug_level = 0;
155
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
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parents: 151
diff changeset
   233
    master->timeout = 500; // 500us
130
69c2645300ee Watch-Kommando
Florian Pose <fp@igh-essen.com>
parents: 129
diff changeset
   234
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   235
    master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   236
    master->stats.delayed = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   237
    master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   238
    master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   239
    master->stats.t_last = 0;
191
ca805255a935 Prepared Free-Run mode
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parents: 188
diff changeset
   240
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   241
    master->mode = EC_MASTER_MODE_IDLE;
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
   242
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
   243
    master->request_cb = NULL;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
   244
    master->release_cb = NULL;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
   245
    master->cb_data = NULL;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   246
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   247
    ec_fsm_reset(&master->fsm);
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   248
}
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   249
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   250
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   251
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   252
/**
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   253
   Clears all slaves.
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parents: 236
diff changeset
   254
*/
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   255
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   256
void ec_master_clear_slaves(ec_master_t *master)
b4960499098f Added finite state machine (FSM) processing.
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parents: 236
diff changeset
   257
{
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    ec_slave_t *slave, *next_slave;
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    list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
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        list_del(&slave->list);
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        kobject_del(&slave->kobj);
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        kobject_put(&slave->kobj);
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    }
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    master->slave_count = 0;
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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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    // 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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/**
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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 t_start, t_end;
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    unsigned int frame_count, more_commands_waiting;
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    frame_count = 0;
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    t_start = get_cycles();
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    if (unlikely(master->debug_level > 0))
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        EC_DBG("ec_master_send_commands\n");
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176
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    do {
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        // fetch pointer to transmit socket buffer
176
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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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   322
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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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   326
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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 > ETH_DATA_LEN) {
176
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                more_commands_waiting = 1;
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                break;
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   333
            }
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   334
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            command->state = EC_CMD_SENT;
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            command->t_sent = t_start;
176
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            command->index = master->command_index++;
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   338
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   339
            if (unlikely(master->debug_level > 0))
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                EC_DBG("adding command 0x%02X\n", command->index);
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   341
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   342
            // set "command following" flag in previous frame
176
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   343
            if (follows_word)
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                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
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   345
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            // EtherCAT command header
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   347
            EC_WRITE_U8 (cur_data,     command->type);
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            EC_WRITE_U8 (cur_data + 1, command->index);
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   349
            EC_WRITE_U32(cur_data + 2, command->address.logical);
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   350
            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
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   351
            EC_WRITE_U16(cur_data + 8, 0x0000);
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   352
            follows_word = cur_data + 6;
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   353
            cur_data += EC_COMMAND_HEADER_SIZE;
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   354
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   355
            // EtherCAT command data
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   356
            memcpy(cur_data, command->data, command->data_size);
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   357
            cur_data += command->data_size;
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   358
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   359
            // EtherCAT command footer
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   360
            EC_WRITE_U16(cur_data, 0x0000); // reset working counter
176
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   361
            cur_data += EC_COMMAND_FOOTER_SIZE;
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   362
        }
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   363
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   364
        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
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   365
            if (unlikely(master->debug_level > 0))
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   366
                EC_DBG("nothing to send.\n");
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   367
            break;
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diff changeset
   368
        }
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   369
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   370
        // EtherCAT frame header
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   371
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
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diff changeset
   372
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
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   373
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   374
        // pad frame
211
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   375
        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176
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   376
            EC_WRITE_U8(cur_data++, 0x00);
98
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   377
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   378
        if (unlikely(master->debug_level > 0))
176
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diff changeset
   379
            EC_DBG("frame size: %i\n", cur_data - frame_data);
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diff changeset
   380
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   381
        // send frame
176
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diff changeset
   382
        ec_device_send(master->device, cur_data - frame_data);
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diff changeset
   383
        frame_count++;
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diff changeset
   384
    }
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   385
    while (more_commands_waiting);
98
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diff changeset
   386
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   387
    if (unlikely(master->debug_level > 0)) {
208
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diff changeset
   388
        t_end = get_cycles();
176
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diff changeset
   389
        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
208
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diff changeset
   390
               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);
176
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diff changeset
   391
    }
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diff changeset
   392
}
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diff changeset
   393
1ac0fc378b95 Sending of multiple frames
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parents: 173
diff changeset
   394
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   395
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   396
/**
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   397
   Processes a received frame.
1ac0fc378b95 Sending of multiple frames
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parents: 173
diff changeset
   398
   This function is called by the network driver for every received frame.
195
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parents: 191
diff changeset
   399
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   400
*/
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   401
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   402
void ec_master_receive(ec_master_t *master, /**< EtherCAT master */
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   403
                       const uint8_t *frame_data, /**< received data */
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   404
                       size_t size /**< size of the received data */
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parents: 191
diff changeset
   405
                       )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   406
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   407
    size_t frame_size, data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   408
    uint8_t command_type, command_index;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   409
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   410
    const uint8_t *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   411
    ec_command_t *command;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   412
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   413
    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
   414
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   415
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   416
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   417
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   418
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   419
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   420
195
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parents: 191
diff changeset
   421
    // check length of entire frame
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   422
    frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   423
    cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   424
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   425
    if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   426
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   427
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   428
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   429
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   430
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   431
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   432
    while (cmd_follows) {
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   433
        // process command header
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   434
        command_type  = EC_READ_U8 (cur_data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   435
        command_index = EC_READ_U8 (cur_data + 1);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   436
        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   437
        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   438
        cur_data += EC_COMMAND_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   439
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   440
        if (unlikely(cur_data - frame_data
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   441
                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   442
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   443
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   444
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   445
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   446
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   447
        // search for matching command in the queue
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   448
        matched = 0;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   449
        list_for_each_entry(command, &master->command_queue, queue) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   450
            if (command->state == EC_CMD_SENT
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   451
                && command->type == command_type
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   452
                && command->index == command_index
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   453
                && command->data_size == data_size) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   454
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   455
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   456
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   457
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   458
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   459
        // no matching command was found
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   460
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   461
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   462
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents: 95
diff changeset
   463
            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   464
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   465
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   466
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   467
        // copy received data in the command memory
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   468
        memcpy(command->data, cur_data, data_size);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   469
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   470
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   471
        // set the command's working counter
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   472
        command->working_counter = EC_READ_U16(cur_data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   473
        cur_data += EC_COMMAND_FOOTER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   474
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   475
        // dequeue the received command
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   476
        command->state = EC_CMD_RECEIVED;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   477
        list_del_init(&command->queue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   478
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   479
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   480
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   481
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   482
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   483
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   484
   Sends a single command and waits for its reception.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   485
   If the slave doesn't respond, the command is sent again.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   486
   \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
   487
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   488
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   489
int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   490
                        ec_command_t *command /**< command */
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   491
                        )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   492
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   493
    unsigned int response_tries_left;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   494
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   495
    response_tries_left = 10;
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   496
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   497
    while (1)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   498
    {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   499
        ec_master_queue_command(master, command);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   500
        ecrt_master_sync_io(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   501
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   502
        if (command->state == EC_CMD_RECEIVED) {
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   503
            if (likely(command->working_counter))
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   504
                return 0;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   505
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   506
        else if (command->state == EC_CMD_TIMEOUT) {
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   507
            EC_ERR("Simple-IO TIMEOUT!\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   508
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   509
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   510
        else if (command->state == EC_CMD_ERROR) {
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   511
            EC_ERR("Simple-IO command error!\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   512
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   513
        }
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   514
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   515
        // no direct response, wait a little bit...
130
69c2645300ee Watch-Kommando
Florian Pose <fp@igh-essen.com>
parents: 129
diff changeset
   516
        udelay(100);
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   517
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   518
        if (unlikely(--response_tries_left)) {
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   519
            EC_ERR("No response in simple-IO!\n");
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   520
            return -1;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   521
        }
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   522
    }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   523
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   524
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   525
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   526
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   527
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   528
   Scans the EtherCAT bus for slaves.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   529
   Creates a list of slave structures for further processing.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   530
   \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
   531
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   532
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   533
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   534
{
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   535
    ec_slave_t *slave;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   536
    ec_slave_ident_t *ident;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   537
    ec_command_t *command;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   538
    unsigned int i;
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   539
    uint16_t coupler_index, coupler_subindex;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   540
    uint16_t reverse_coupler_index, current_coupler_index;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   541
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   542
    if (!list_empty(&master->slaves)) {
90
044e97bce4bd Rahmen jetzt zustandslos.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   543
        EC_ERR("Slave scan already done!\n");
044e97bce4bd Rahmen jetzt zustandslos.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   544
        return -1;
044e97bce4bd Rahmen jetzt zustandslos.
Florian Pose <fp@igh-essen.com>
parents: 89
diff changeset
   545
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   546
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   547
    command = &master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   548
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   549
    // determine number of slaves on bus
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   550
    if (ec_command_brd(command, 0x0000, 4)) return -1;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   551
    if (unlikely(ec_master_simple_io(master, command))) return -1;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   552
    master->slave_count = command->working_counter;
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
   553
    EC_INFO("Found %i slaves on bus.\n", master->slave_count);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   554
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   555
    if (!master->slave_count) return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   556
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   557
    // init slaves
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   558
    for (i = 0; i < master->slave_count; i++) {
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   559
        if (!(slave =
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   560
              (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   561
            EC_ERR("Failed to allocate slave %i!\n", i);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   562
            goto out_free;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   563
        }
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   564
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   565
        if (ec_slave_init(slave, master, i, i + 1)) goto out_free;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   566
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   567
        if (kobject_add(&slave->kobj)) {
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   568
            EC_ERR("Failed to add kobject.\n");
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   569
            kobject_put(&slave->kobj); // free
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   570
            goto out_free;
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   571
        }
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   572
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   573
        list_add_tail(&slave->list, &master->slaves);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   574
    }
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   575
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   576
    coupler_index = 0;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   577
    reverse_coupler_index = 0xFFFF;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   578
    current_coupler_index = 0x3FFF;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   579
    coupler_subindex = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   580
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   581
    // for every slave on the bus
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   582
    list_for_each_entry(slave, &master->slaves, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   583
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   584
        // write station address
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   585
        if (ec_command_apwr(command, slave->ring_position, 0x0010,
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   586
                            sizeof(uint16_t))) goto out_free;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   587
        EC_WRITE_U16(command->data, slave->station_address);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   588
        if (unlikely(ec_master_simple_io(master, command))) {
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   589
            EC_ERR("Writing station address failed on slave %i!\n",
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   590
                   slave->ring_position);
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   591
            goto out_free;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   592
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   593
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   594
        // fetch all slave information
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   595
        if (ec_slave_fetch(slave)) goto out_free;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   596
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   597
        // search for identification in "database"
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   598
        ident = slave_idents;
129
67b6e534db4b Bugfix: Absturz bei unbekannter Klemme.
Florian Pose <fp@igh-essen.com>
parents: 120
diff changeset
   599
        while (ident->type) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   600
            if (unlikely(ident->vendor_id == slave->sii_vendor_id
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   601
                         && ident->product_code == slave->sii_product_code)) {
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   602
                slave->type = ident->type;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   603
                break;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   604
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   605
            ident++;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   606
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   607
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   608
        if (!slave->type) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
   609
            EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
   610
                    " position %i.\n", slave->sii_vendor_id,
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   611
                    slave->sii_product_code, slave->ring_position);
188
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   612
        }
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   613
        else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   614
            if (slave->sii_alias)
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   615
                current_coupler_index = reverse_coupler_index--;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   616
            else
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   617
                current_coupler_index = coupler_index++;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   618
            coupler_subindex = 0;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   619
        }
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   620
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   621
        slave->coupler_index = current_coupler_index;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   622
        slave->coupler_subindex = coupler_subindex;
c0e49f4a1c07 Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   623
        coupler_subindex++;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   624
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   625
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   626
    return 0;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   627
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   628
 out_free:
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   629
    ec_master_clear_slaves(master);
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
   630
    return -1;
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   631
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   632
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   633
/*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   634
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   635
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   636
   Output statistics in cyclic mode.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   637
   This function outputs statistical data on demand, but not more often than
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   638
   necessary. The output happens at most once a second.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   639
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   640
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   641
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
   642
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   643
    cycles_t t_now = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   644
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   645
    if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   646
        if (master->stats.timeouts) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   647
            EC_WARN("%i commands TIMED OUT!\n", master->stats.timeouts);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   648
            master->stats.timeouts = 0;
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
        if (master->stats.delayed) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   651
            EC_WARN("%i frame(s) DELAYED!\n", master->stats.delayed);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   652
            master->stats.delayed = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   653
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   654
        if (master->stats.corrupted) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   655
            EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   656
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   657
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   658
        if (master->stats.unmatched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   659
            EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   660
            master->stats.unmatched = 0;
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
        master->stats.t_last = t_now;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   663
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   664
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   665
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   666
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   667
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
   668
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   669
   Starts the Free-Run mode.
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   670
*/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   671
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   672
void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   673
{
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   674
    if (master->mode == EC_MASTER_MODE_FREERUN) return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   675
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   676
    if (master->mode == EC_MASTER_MODE_RUNNING) {
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   677
        EC_ERR("ec_master_freerun_start: Master already running!\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   678
        return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   679
    }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   680
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   681
    EC_INFO("Starting Free-Run mode.\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   682
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   683
    master->mode = EC_MASTER_MODE_FREERUN;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   684
    ec_fsm_reset(&master->fsm);
252
111a5c195b8d Changed free-run frequency to HZ.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   685
    queue_delayed_work(master->workqueue, &master->freerun_work, 1);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   686
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   687
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   688
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   689
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   690
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   691
   Stops the Free-Run mode.
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   692
*/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   693
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   694
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   695
{
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   696
    if (master->mode != EC_MASTER_MODE_FREERUN) return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   697
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   698
    ec_master_eoe_stop(master);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   699
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   700
    EC_INFO("Stopping Free-Run mode.\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   701
236
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   702
    if (!cancel_delayed_work(&master->freerun_work)) {
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   703
        flush_workqueue(master->workqueue);
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   704
    }
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   705
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   706
    ec_master_clear_slaves(master);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   707
    master->mode = EC_MASTER_MODE_IDLE;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   708
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   709
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   710
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   711
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   712
/**
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   713
   Free-Run mode function.
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   714
*/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   715
236
34d7ce41e9db Started freerun state machine development.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
   716
void ec_master_freerun(void *data /**< master pointer */)
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   717
{
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   718
    ec_master_t *master = (ec_master_t *) data;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   719
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   720
    // aquire master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   721
    spin_lock_bh(&master->internal_lock);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   722
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   723
    ecrt_master_async_receive(master);
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   724
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   725
    // execute master state machine
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   726
    ec_fsm_execute(&master->fsm);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   727
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   728
    ecrt_master_async_send(master);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   729
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   730
    // release master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   731
    spin_unlock_bh(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   732
252
111a5c195b8d Changed free-run frequency to HZ.
Florian Pose <fp@igh-essen.com>
parents: 251
diff changeset
   733
    queue_delayed_work(master->workqueue, &master->freerun_work, 1);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   734
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   735
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   736
/*****************************************************************************/
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   737
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   738
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   739
   Initializes a sync manager configuration page.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   740
   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   741
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   742
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   743
void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   744
                    uint8_t *data /**> configuration memory */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   745
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   746
{
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   747
    EC_WRITE_U16(data,     sync->physical_start_address);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   748
    EC_WRITE_U16(data + 2, sync->size);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   749
    EC_WRITE_U8 (data + 4, sync->control_byte);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   750
    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   751
    EC_WRITE_U16(data + 6, 0x0001); // enable
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   752
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   753
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   754
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   755
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   756
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   757
   Initializes a sync manager configuration page with EEPROM data.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   758
   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   759
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   760
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   761
void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   762
                           uint8_t *data /**> configuration memory */
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   763
                           )
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   764
{
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   765
    EC_WRITE_U16(data,     sync->physical_start_address);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   766
    EC_WRITE_U16(data + 2, sync->length);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   767
    EC_WRITE_U8 (data + 4, sync->control_register);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   768
    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   769
    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   770
}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   771
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   772
/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   773
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   774
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   775
   Initializes an FMMU configuration page.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   776
   The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   777
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   778
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   779
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   780
                    uint8_t *data /**> configuration memory */
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   781
                    )
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   782
{
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   783
    EC_WRITE_U32(data,      fmmu->logical_start_address);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   784
    EC_WRITE_U16(data + 4,  fmmu->sync->size);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   785
    EC_WRITE_U8 (data + 6,  0x00); // logical start bit
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   786
    EC_WRITE_U8 (data + 7,  0x07); // logical end bit
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   787
    EC_WRITE_U16(data + 8,  fmmu->sync->physical_start_address);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   788
    EC_WRITE_U8 (data + 10, 0x00); // physical start bit
77
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents: 74
diff changeset
   789
    EC_WRITE_U8 (data + 11, (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01);
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   790
    EC_WRITE_U16(data + 12, 0x0001); // enable
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   791
    EC_WRITE_U16(data + 14, 0x0000); // reserved
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   792
}
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   793
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   794
/*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   795
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   796
/**
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   797
   Formats attribute data for SysFS read access.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   798
   \return number of bytes to read
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   799
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   800
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   801
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   802
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   803
                                 char *buffer /**< memory to store data */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   804
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   805
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   806
    ec_master_t *master = container_of(kobj, ec_master_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   807
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   808
    if (attr == &attr_slave_count) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   809
        return sprintf(buffer, "%i\n", master->slave_count);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   810
    }
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   811
    else if (attr == &attr_mode) {
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   812
        switch (master->mode) {
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   813
            case EC_MASTER_MODE_IDLE:
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   814
                return sprintf(buffer, "IDLE\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   815
            case EC_MASTER_MODE_FREERUN:
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   816
                return sprintf(buffer, "FREERUN\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   817
            case EC_MASTER_MODE_RUNNING:
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   818
                return sprintf(buffer, "RUNNING\n");
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   819
        }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
   820
    }
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   821
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   822
    return 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   823
}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   824
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   825
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   826
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   827
/**
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   828
   Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   829
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   830
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   831
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
   832
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   833
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   834
    ec_slave_t *slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   835
    unsigned int coupled, found;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   836
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   837
    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
   838
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   839
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   840
    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
   841
        eoe->slave = NULL;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   842
    coupled = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   843
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   844
    // couple a free EoE handler to every EoE-capable slave
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   845
    list_for_each_entry(slave, &master->slaves, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   846
        if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   847
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   848
        found = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   849
        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
   850
            if (eoe->slave) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   851
            eoe->slave = slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   852
            found = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   853
            coupled++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   854
            EC_INFO("Coupling device %s to slave %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   855
                    eoe->dev->name, slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   856
            if (eoe->opened)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   857
                slave->requested_state = EC_SLAVE_STATE_OP;
253
6dd3e49dbb85 Fixed bug with coupling multiple EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 252
diff changeset
   858
            break;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   859
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   860
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   861
        if (!found) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   862
            EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   863
            slave->requested_state = EC_SLAVE_STATE_INIT;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   864
        }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   865
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   866
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   867
    if (!coupled) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   868
        EC_INFO("No EoE handlers coupled.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   869
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   870
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   871
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   872
    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
   873
    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
   874
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   875
    // start EoE processing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   876
    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
   877
    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
   878
    return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   879
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   880
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   881
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   882
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   883
/**
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   884
   Stops the Ethernet-over-EtherCAT processing.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   885
*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   886
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   887
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
   888
{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   889
    ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   890
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   891
    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
   892
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   893
    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
   894
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   895
    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
   896
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   897
    // decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   898
    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
   899
        if (eoe->slave) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   900
            eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   901
            eoe->slave = NULL;
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
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   904
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   905
    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
   906
}
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
/*****************************************************************************/
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
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   911
   Does the Ethernet-over-EtherCAT processing.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   912
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   913
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   914
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
   915
{
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
   916
    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
   917
    ec_eoe_t *eoe;
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   918
    unsigned int active = 0;
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
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
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   921
        if (ec_eoe_active(eoe)) active++;
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 228
diff changeset
   922
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   923
    if (!active) goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   924
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   925
    // aquire master lock...
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   926
    if (master->mode == EC_MASTER_MODE_RUNNING) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   927
        // request_cb must return 0, if the lock has been aquired!
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   928
        if (master->request_cb(master->cb_data))
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   929
            goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   930
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   931
    else if (master->mode == EC_MASTER_MODE_FREERUN) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   932
        spin_lock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   933
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   934
    else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   935
        goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   936
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   937
    // actual EoE stuff
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   938
    ecrt_master_async_receive(master);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   939
    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
   940
        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
   941
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   942
    ecrt_master_async_send(master);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   943
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   944
    // release lock...
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   945
    if (master->mode == EC_MASTER_MODE_RUNNING) {
228
ec516cfa207e Added EC_EOE_FREQUENCY
Florian Pose <fp@igh-essen.com>
parents: 226
diff changeset
   946
        master->release_cb(master->cb_data);
ec516cfa207e Added EC_EOE_FREQUENCY
Florian Pose <fp@igh-essen.com>
parents: 226
diff changeset
   947
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   948
    else if (master->mode == EC_MASTER_MODE_FREERUN) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   949
        spin_unlock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   950
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   951
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   952
 queue_timer:
228
ec516cfa207e Added EC_EOE_FREQUENCY
Florian Pose <fp@igh-essen.com>
parents: 226
diff changeset
   953
    master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   954
    add_timer(&master->eoe_timer);
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   955
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   956
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   957
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   958
 *  Realtime interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   959
 *****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   960
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   961
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   962
   Creates a domain.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   963
   \return pointer to new domain on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   964
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   965
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   966
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   967
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   968
{
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   969
    ec_domain_t *domain, *last_domain;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   970
    unsigned int index;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   971
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   972
    if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
   973
        EC_ERR("Error allocating domain memory!\n");
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   974
        goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   975
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   976
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   977
    if (list_empty(&master->domains)) index = 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   978
    else {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   979
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   980
        index = last_domain->index + 1;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   981
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   982
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   983
    if (ec_domain_init(domain, master, index)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   984
        EC_ERR("Failed to init domain.\n");
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   985
        goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   986
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   987
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   988
    if (kobject_add(&domain->kobj)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   989
        EC_ERR("Failed to add domain kobject.\n");
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   990
        goto out_put;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   991
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   992
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
   993
    list_add_tail(&domain->list, &master->domains);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   994
    return domain;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   995
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   996
 out_put:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   997
    kobject_put(&domain->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   998
 out_return:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   999
    return NULL;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1000
}
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1001
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1002
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1003
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
  1004
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1005
   Configures all slaves and leads them to the OP state.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1006
   Does the complete configuration and activation for all slaves. Sets sync
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1007
   managers and FMMUs, and does the appropriate transitions, until the slave
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1008
   is operational.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1009
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1010
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1011
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1012
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1013
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1014
{
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1015
    unsigned int j;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1016
    ec_slave_t *slave;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1017
    ec_command_t *command;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1018
    const ec_sync_t *sync;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1019
    const ec_slave_type_t *type;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1020
    const ec_fmmu_t *fmmu;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1021
    uint32_t domain_offset;
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1022
    ec_domain_t *domain;
155
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1023
    ec_eeprom_sync_t *eeprom_sync, mbox_sync;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1024
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1025
    command = &master->simple_command;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1026
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1027
    // allocate all domains
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1028
    domain_offset = 0;
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1029
    list_for_each_entry(domain, &master->domains, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1030
        if (ec_domain_alloc(domain, domain_offset)) {
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
  1031
            EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1032
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1033
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1034
        domain_offset += domain->data_size;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1035
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1036
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1037
    // configure and activate slaves
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1038
    list_for_each_entry(slave, &master->slaves, list) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1039
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1040
        // change state to INIT
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1041
        if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1042
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1043
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1044
        // check for slave registration
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1045
        type = slave->type;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1046
        if (!type)
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1047
            EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1048
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1049
        // check and reset CRC fault counters
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1050
        ec_slave_check_crc(slave);
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1051
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1052
        // reset FMMUs
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1053
        if (slave->base_fmmu_count) {
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1054
            if (ec_command_npwr(command, slave->station_address, 0x0600,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1055
                                EC_FMMU_SIZE * slave->base_fmmu_count))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1056
                return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1057
            memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1058
            if (unlikely(ec_master_simple_io(master, command))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1059
                EC_ERR("Resetting FMMUs failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1060
                       slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1061
                return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1062
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1063
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1064
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1065
        // reset sync managers
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1066
        if (slave->base_sync_count) {
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1067
            if (ec_command_npwr(command, slave->station_address, 0x0800,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1068
                                EC_SYNC_SIZE * slave->base_sync_count))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1069
                return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1070
            memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1071
            if (unlikely(ec_master_simple_io(master, command))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1072
                EC_ERR("Resetting sync managers failed on slave %i!\n",
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1073
                       slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1074
                return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1075
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1076
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1077
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1078
        // configure sync managers
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1079
        if (type) { // known slave type, take type's SM information
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
  1080
            for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1081
                sync = type->sync_managers[j];
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1082
                if (ec_command_npwr(command, slave->station_address,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1083
                                    0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1084
                    return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1085
                ec_sync_config(sync, command->data);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1086
                if (unlikely(ec_master_simple_io(master, command))) {
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1087
                    EC_ERR("Setting sync manager %i failed on slave %i!\n",
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1088
                           j, slave->ring_position);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1089
                    return -1;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1090
                }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1091
            }
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1092
        }
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1093
        else if (slave->sii_mailbox_protocols) { // unknown type, but mailbox
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1094
            // does the device supply SM configurations in its EEPROM?
155
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1095
	    if (!list_empty(&slave->eeprom_syncs)) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1096
		list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1097
		    EC_INFO("Sync manager %i...\n", eeprom_sync->index);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1098
		    if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1099
					0x800 + eeprom_sync->index *
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1100
					EC_SYNC_SIZE,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1101
					EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1102
		    ec_eeprom_sync_config(eeprom_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1103
		    if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1104
			EC_ERR("Setting sync manager %i failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1105
			       eeprom_sync->index, slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1106
			return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1107
		    }
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1108
		}
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1109
            }
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1110
	    else { // no sync manager information; guess mailbox settings
155
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1111
		mbox_sync.physical_start_address =
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1112
                    slave->sii_rx_mailbox_offset;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1113
		mbox_sync.length = slave->sii_rx_mailbox_size;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1114
		mbox_sync.control_register = 0x26;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1115
		mbox_sync.enable = 1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1116
		if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1117
				    0x800,EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1118
		ec_eeprom_sync_config(&mbox_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1119
		if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1120
		    EC_ERR("Setting sync manager 0 failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1121
			   slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1122
		    return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1123
		}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1124
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1125
		mbox_sync.physical_start_address =
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1126
                    slave->sii_tx_mailbox_offset;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1127
		mbox_sync.length = slave->sii_tx_mailbox_size;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1128
		mbox_sync.control_register = 0x22;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1129
		mbox_sync.enable = 1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1130
		if (ec_command_npwr(command, slave->station_address,
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1131
				    0x808, EC_SYNC_SIZE)) return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1132
		ec_eeprom_sync_config(&mbox_sync, command->data);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1133
		if (unlikely(ec_master_simple_io(master, command))) {
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1134
		    EC_ERR("Setting sync manager 1 failed on slave %i!\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1135
			   slave->ring_position);
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1136
		    return -1;
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1137
		}
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1138
	    }
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1139
	    EC_INFO("Mailbox configured for unknown slave %i\n",
ff65679b65fe Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents: 151
diff changeset
  1140
		    slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1141
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1142
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1143
        // change state to PREOP
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1144
        if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1145
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1146
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1147
        // stop activation here for slaves without type
136
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1148
        if (!type) continue;
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
  1149
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1150
        // slaves that are not registered are only brought into PREOP
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1151
        // state -> nice blinking and mailbox communication possible
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1152
        if (!slave->registered && !slave->type->special) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1153
            EC_WARN("Slave %i was not registered!\n", slave->ring_position);
81
28b1defdcc88 Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1154
            continue;
28b1defdcc88 Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1155
        }
28b1defdcc88 Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents: 77
diff changeset
  1156
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1157
        // configure FMMUs
164
ed85368b2b2e AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
  1158
        for (j = 0; j < slave->fmmu_count; j++) {
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1159
            fmmu = &slave->fmmus[j];
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1160
            if (ec_command_npwr(command, slave->station_address,
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1161
                                0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1162
                return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1163
            ec_fmmu_config(fmmu, command->data);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1164
            if (unlikely(ec_master_simple_io(master, command))) {
89
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1165
                EC_ERR("Setting FMMU %i failed on slave %i!\n",
e91ef35c36db Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents: 84
diff changeset
  1166
                       j, slave->ring_position);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1167
                return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1168
            }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1169
        }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1170
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1171
        // change state to SAVEOP
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1172
        if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_SAVEOP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1173
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1174
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1175
        // change state to OP
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1176
        if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_OP)))
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1177
            return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1178
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1179
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1180
    return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1181
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1182
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1183
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1184
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1185
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1186
   Resets all slaves to INIT state.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1187
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1188
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1189
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1190
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1191
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1192
    ec_slave_t *slave;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1193
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1194
    list_for_each_entry(slave, &master->slaves, list) {
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
  1195
        ec_slave_check_crc(slave);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1196
        ec_slave_state_change(slave, EC_SLAVE_STATE_INIT);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1197
    }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1198
}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1199
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1200
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1201
/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1202
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1203
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1204
   Fetches the SDO dictionaries of all slaves.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1205
   Slaves that do not support the CoE protocol are left out.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1206
   \return 0 in case of success, else < 0
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1207
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1208
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1209
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1210
int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT master */)
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1211
{
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1212
    ec_slave_t *slave;
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1213
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1214
    list_for_each_entry(slave, &master->slaves, list) {
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1215
        if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1216
            if (unlikely(ec_slave_fetch_sdo_list(slave))) {
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1217
                EC_ERR("Failed to fetch SDO list on slave %i!\n",
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1218
                       slave->ring_position);
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1219
                return -1;
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1220
            }
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1221
        }
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1222
    }
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1223
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1224
    return 0;
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1225
}
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1226
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1227
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1228
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1229
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1230
   Sends queued commands and waits for their reception.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1231
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1232
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1233
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1234
void ecrt_master_sync_io(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1235
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1236
    ec_command_t *command, *n;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1237
    unsigned int commands_sent;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1238
    cycles_t t_start, t_end, t_timeout;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1239
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1240
    // send commands
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1241
    ecrt_master_async_send(master);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1242
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1243
    t_start = get_cycles(); // measure io time
120
e713e7420c4d 64bit-Division vermieden.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
  1244
    t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1245
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1246
    while (1) { // active waiting
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1247
        ec_device_call_isr(master->device);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1248
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1249
        t_end = get_cycles(); // take current time
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1250
        if (t_end - t_start >= t_timeout) break; // timeout!
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1251
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1252
        commands_sent = 0;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1253
        list_for_each_entry_safe(command, n, &master->command_queue, queue) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1254
            if (command->state == EC_CMD_RECEIVED)
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1255
                list_del_init(&command->queue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1256
            else if (command->state == EC_CMD_SENT)
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1257
                commands_sent++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1258
        }
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1259
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1260
        if (!commands_sent) break;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1261
    }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1262
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1263
    // timeout; dequeue all commands
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1264
    list_for_each_entry_safe(command, n, &master->command_queue, queue) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1265
        switch (command->state) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1266
            case EC_CMD_SENT:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1267
            case EC_CMD_QUEUED:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1268
                command->state = EC_CMD_TIMEOUT;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1269
                master->stats.timeouts++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1270
                ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1271
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1272
            case EC_CMD_RECEIVED:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1273
                master->stats.delayed++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1274
                ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1275
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1276
            default:
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1277
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1278
        }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1279
        list_del_init(&command->queue);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1280
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1281
}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1282
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1283
/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1284
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1285
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1286
   Asynchronous sending of commands.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1287
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1288
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1289
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1290
void ecrt_master_async_send(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1291
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1292
    ec_command_t *command, *n;
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1293
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1294
    if (unlikely(!master->device->link_state)) {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1295
        // link is down, no command can be sent
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1296
        list_for_each_entry_safe(command, n, &master->command_queue, queue) {
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1297
            command->state = EC_CMD_ERROR;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1298
            list_del_init(&command->queue);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1299
        }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1300
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1301
        // query link state
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1302
        ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1303
        return;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1304
    }
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1305
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1306
    // send frames
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1307
    ec_master_send_commands(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1308
}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1309
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1310
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1311
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1312
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1313
   Asynchronous receiving of commands.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1314
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1315
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1316
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1317
void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */)
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1318
{
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1319
    ec_command_t *command, *next;
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1320
    cycles_t t_received, t_timeout;
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1321
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1322
    ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1323
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1324
    t_received = get_cycles();
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1325
    t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1326
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1327
    // dequeue all received commands
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1328
    list_for_each_entry_safe(command, next, &master->command_queue, queue)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1329
        if (command->state == EC_CMD_RECEIVED) list_del_init(&command->queue);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1330
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1331
    // dequeue all commands that timed out
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1332
    list_for_each_entry_safe(command, next, &master->command_queue, queue) {
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1333
        switch (command->state) {
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1334
            case EC_CMD_SENT:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1335
            case EC_CMD_QUEUED:
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1336
                if (t_received - command->t_sent > t_timeout) {
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1337
                    list_del_init(&command->queue);
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1338
                    command->state = EC_CMD_TIMEOUT;
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1339
                    master->stats.timeouts++;
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1340
                    ec_master_output_stats(master);
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
  1341
                }
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1342
                break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1343
            default:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1344
                break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1345
        }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1346
    }
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1347
}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1348
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1349
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1350
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1351
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1352
   Prepares synchronous IO.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1353
   Queues all domain commands and sends them. Then waits a certain time, so
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1354
   that ecrt_master_sasync_receive() can be called securely.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1355
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1356
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1357
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1358
void ecrt_master_prepare_async_io(ec_master_t *master /**< EtherCAT master */)
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1359
{
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1360
    ec_domain_t *domain;
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1361
    cycles_t t_start, t_end, t_timeout;
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1362
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1363
    // queue commands of all domains
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1364
    list_for_each_entry(domain, &master->domains, list)
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1365
        ecrt_domain_queue(domain);
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1366
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1367
    ecrt_master_async_send(master);
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1368
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1369
    t_start = get_cycles(); // take sending time
120
e713e7420c4d 64bit-Division vermieden.
Florian Pose <fp@igh-essen.com>
parents: 119
diff changeset
  1370
    t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1371
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1372
    // active waiting
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1373
    while (1) {
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1374
        t_end = get_cycles();
113
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1375
        if (t_end - t_start >= t_timeout) break;
a3dbd6bc8fce Do-Schleifen ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
  1376
    }
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1377
}
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1378
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1379
/*****************************************************************************/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1380
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
  1381
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1382
   Does all cyclic master work.
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1383
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1384
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1385
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1386
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1387
{
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1388
    // output statistics
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1389
    ec_master_output_stats(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1390
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
  1391
    // execute master state machine
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
  1392
    ec_fsm_execute(&master->fsm);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1393
}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1394
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1395
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1396
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1397
/**
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1398
   Translates an ASCII coded bus-address to a slave pointer.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1399
   These are the valid addressing schemes:
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1400
   - \a "X" = the X. slave on the bus,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1401
   - \a "X:Y" = the Y. slave after the X. branch (bus coupler),
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1402
   - \a "#X" = the slave with alias X,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1403
   - \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1404
   X and Y are zero-based indices and may be provided in hexadecimal or octal
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1405
   notation (with respective prefix).
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1406
   \return pointer to the slave on success, else NULL
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1407
   \ingroup RealtimeInterface
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1408
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1409
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1410
ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1411
                                  const char *address /**< address string */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1412
                                  )
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1413
{
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1414
    unsigned long first, second;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1415
    char *remainder, *remainder2;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1416
    unsigned int alias_requested, alias_found;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1417
    ec_slave_t *alias_slave = NULL, *slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1418
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1419
    if (!address || address[0] == 0) return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1420
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1421
    alias_requested = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1422
    if (address[0] == '#') {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1423
        alias_requested = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1424
        address++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1425
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1426
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1427
    first = simple_strtoul(address, &remainder, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1428
    if (remainder == address) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1429
        EC_ERR("Slave address \"%s\" - First number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1430
        return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1431
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1432
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1433
    if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1434
        alias_found = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1435
        list_for_each_entry(alias_slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1436
            if (alias_slave->sii_alias == first) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1437
                alias_found = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1438
                break;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1439
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1440
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1441
        if (!alias_found) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1442
            EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1443
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1444
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1445
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1446
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1447
    if (!remainder[0]) { // absolute position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1448
        if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1449
            return alias_slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1450
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1451
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1452
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1453
                if (slave->ring_position == first) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1454
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1455
            EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1456
                   address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1457
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1458
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1459
    else if (remainder[0] == ':') { // field position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1460
        remainder++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1461
        second = simple_strtoul(remainder, &remainder2, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1462
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1463
        if (remainder2 == remainder) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1464
            EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1465
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1466
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1467
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1468
        if (remainder2[0]) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1469
            EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1470
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1471
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1472
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1473
        if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1474
            if (!alias_slave->type ||
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1475
                alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1476
                EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1477
                       " in colon mode.\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1478
                return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1479
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1480
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1481
                if (slave->coupler_index == alias_slave->coupler_index
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1482
                    && slave->coupler_subindex == second)
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1483
                    return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1484
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1485
            EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1486
                   " following!\n", address, alias_slave->ring_position,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1487
                   second);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1488
            return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1489
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1490
        else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1491
            list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1492
                if (slave->coupler_index == first
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1493
                    && slave->coupler_subindex == second) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1494
            }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1495
        }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1496
    }
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1497
    else
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1498
        EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1499
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1500
    return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1501
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1502
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1503
/*****************************************************************************/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1504
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1505
/**
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1506
   Sets the locking callbacks.
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1507
   The request_cb function must return zero, to allow another instance
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1508
   (the EoE process for example) to access the master. Non-zero means,
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
  1509
   that access is forbidden at this time.
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1510
   \ingroup RealtimeInterface
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1511
*/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1512
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1513
void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1514
                           int (*request_cb)(void *), /**< request lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1515
                           void (*release_cb)(void *), /**< release lock CB */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1516
                           void *cb_data /**< data parameter */
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1517
                           )
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1518
{
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1519
    master->request_cb = request_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1520
    master->release_cb = release_cb;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1521
    master->cb_data = cb_data;
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1522
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1523
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1524
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1525
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  1526
/**
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1527
   Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1528
   \ingroup RealtimeInterface
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1529
*/
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1530
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1531
int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1532
{
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1533
    if (!master->request_cb || !master->release_cb) {
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1534
        EC_ERR("EoE requires master callbacks to be set!\n");
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1535
        return -1;
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1536
    }
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1537
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1538
    ec_master_eoe_start(master);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1539
    return 0;
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1540
}
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1541
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1542
/*****************************************************************************/
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1543
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1544
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1545
   Sets the debug level of the master.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1546
   The following levels are valid:
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1547
   - 1: only output positions marks and basic data
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1548
   - 2: additional frame data output
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1549
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1550
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1551
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1552
void ecrt_master_debug(ec_master_t *master, /**< EtherCAT master */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1553
                       int level /**< debug level */
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1554
                       )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1555
{
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1556
    if (level != master->debug_level) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1557
        master->debug_level = level;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1558
        EC_INFO("Master debug level set to %i.\n", level);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1559
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1560
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1561
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1562
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1563
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1564
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1565
   Outputs all master information.
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
  1566
   Verbosity:
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1567
   - 0: Only slave types and positions
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1568
   - 1: with EEPROM contents
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1569
   - >1: with SDO dictionaries
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1570
   \ingroup RealtimeInterface
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1571
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1572
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1573
void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1574
                       unsigned int verbosity /**< verbosity level */
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
  1575
                       )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1576
{
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1577
    ec_slave_t *slave;
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1578
    ec_eoe_t *eoe;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1579
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1580
    EC_INFO("*** Begin master information ***\n");
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1581
    if (master->slave_count) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1582
        EC_INFO("Slave list:\n");
182
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1583
        list_for_each_entry(slave, &master->slaves, list)
8c0bc99229a9 Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents: 179
diff changeset
  1584
            ec_slave_print(slave, verbosity);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1585
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1586
    if (!list_empty(&master->eoe_handlers)) {
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1587
        EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1588
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1589
            ec_eoe_print(eoe);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1590
        }
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
  1591
    }
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 82
diff changeset
  1592
    EC_INFO("*** End master information ***\n");
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1593
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1594
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1595
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1596
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1597
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1598
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1599
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1600
EXPORT_SYMBOL(ecrt_master_activate);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1601
EXPORT_SYMBOL(ecrt_master_deactivate);
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 133
diff changeset
  1602
EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists);
109
c6766baead5e Bugfix: EXPORT_SYMBOL f?r ec_master_prepare_async_io() vergessen.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
  1603
EXPORT_SYMBOL(ecrt_master_prepare_async_io);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1604
EXPORT_SYMBOL(ecrt_master_sync_io);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1605
EXPORT_SYMBOL(ecrt_master_async_send);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1606
EXPORT_SYMBOL(ecrt_master_async_receive);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
  1607
EXPORT_SYMBOL(ecrt_master_run);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1608
EXPORT_SYMBOL(ecrt_master_callbacks);
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  1609
EXPORT_SYMBOL(ecrt_master_start_eoe);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1610
EXPORT_SYMBOL(ecrt_master_debug);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  1611
EXPORT_SYMBOL(ecrt_master_print);
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
  1612
EXPORT_SYMBOL(ecrt_master_get_slave);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  1613
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1614
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1615
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1616
/*****************************************************************************/