author | Florian Pose <fp@igh-essen.com> |
Tue, 30 Sep 2008 10:03:10 +0000 | |
changeset 1228 | 6d9c686f922e |
parent 1214 | 63802a52dd69 |
child 1235 | 72dc9d5a1273 |
permissions | -rw-r--r-- |
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%------------------------------------------------------------------------------ |
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% IgH EtherCAT Master Documentation |
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% $Id$ |
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% |
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% vi: spell spelllang=en tw=78 |
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%------------------------------------------------------------------------------ |
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\documentclass[a4paper,12pt,BCOR6mm,bibtotoc,idxtotoc]{scrbook} |
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\usepackage[latin1]{inputenc} |
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\usepackage[automark,headsepline]{scrpage2} |
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\usepackage{graphicx} |
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\usepackage{makeidx} |
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\usepackage[refpage]{nomencl} |
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\usepackage{listings} |
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\usepackage{svn} |
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\usepackage{textcomp} |
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\usepackage{url} |
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\usepackage{SIunits} |
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\usepackage[pdfpagelabels,plainpages=false]{hyperref} |
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\setlength{\parskip}{0.8ex plus 0.8ex minus 0.5ex} |
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\setlength{\parindent}{0mm} |
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\setcounter{secnumdepth}{\subsubsectionlevel} |
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\DeclareFontShape{OT1}{cmtt}{bx}{n} |
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{ |
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<5><6><7><8><9><10><10.95><12><14.4><17.28><20.74><24.88>cmttb10 |
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}{} |
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\lstset{basicstyle=\ttfamily\small,numberstyle=\tiny,aboveskip=4mm, |
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belowskip=2mm,escapechar=`} |
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\renewcommand\lstlistlistingname{List of Listings} |
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% Workaround for lstlistoflistings bug |
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\makeatletter% --> De-TeX-FAQ |
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\renewcommand*{\lstlistoflistings}{% |
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\begingroup |
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\if@twocolumn |
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\@restonecoltrue\onecolumn |
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\else |
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\@restonecolfalse |
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\fi |
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\lol@heading |
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\setlength{\parskip}{\z@}% |
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\setlength{\parindent}{\z@}% |
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\setlength{\parfillskip}{\z@ \@plus 1fil}% |
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\@starttoc{lol}% |
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\if@restonecol\twocolumn\fi |
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\endgroup |
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} |
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\makeatother% --> \makeatletter |
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\renewcommand\nomname{Glossary} |
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\newcommand{\IgH}{\raisebox{-0.7667ex} |
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{\includegraphics[height=2.2ex]{images/ighsign}}} |
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\SVN $Date$ |
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\SVN $Revision$ |
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\newcommand{\masterversion}{1.4.0} |
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\newcommand{\linenum}[1]{\normalfont\textcircled{\tiny #1}} |
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\makeindex |
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\makenomenclature |
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%------------------------------------------------------------------------------ |
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\begin{document} |
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\pagenumbering{roman} |
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\pagestyle{empty} |
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\begin{titlepage} |
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\begin{center} |
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\rule{\textwidth}{1.5mm} |
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{\Huge\bf IgH \includegraphics[height=2.4ex]{images/ethercat} |
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Master \masterversion\\[1ex] |
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Preliminary Documentation} |
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\vspace{1ex} |
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\rule{\textwidth}{1.5mm} |
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\vspace{\fill} {\Large Dipl.-Ing. (FH) Florian Pose, |
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\url{fp@igh-essen.com}\\[1ex] Ingenieurgemeinschaft \IgH} |
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\vspace{\fill} |
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{\Large Essen, \SVNDate\\[1ex] |
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Revision \SVNRevision} |
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\end{center} |
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\end{titlepage} |
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%------------------------------------------------------------------------------ |
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\tableofcontents |
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\listoftables |
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\listoffigures |
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%\lstlistoflistings |
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%------------------------------------------------------------------------------ |
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\newpage |
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\pagestyle{scrheadings} |
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\section*{Conventions} |
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\addcontentsline{toc}{section}{Conventions} |
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\markleft{Conventions} |
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The following typographic conventions are used: |
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\begin{itemize} |
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\item \textit{Italic face} is used for newly introduced terms and file names. |
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\item \texttt{Typewriter face} is used for code examples and command line |
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output. |
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\item \texttt{\textbf{Bold typewriter face}} is used for user input in command |
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lines. |
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\end{itemize} |
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Data values and addresses are usually specified as hexadecimal values. These |
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are marked in the \textit{C} programming language style with the prefix |
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\lstinline+0x+ (example: \lstinline+0x88A4+). Unless otherwise noted, address |
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values are specified as byte addresses. |
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Function names are always printed with parentheses, but without |
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parameters. So, if a function \lstinline+ecrt_request_master()+ has |
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empty parentheses, this shall not imply that it has no parameters. |
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If shell commands have to be entered, this is marked by a dollar prompt: |
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\begin{lstlisting} |
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$ |
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\end{lstlisting} |
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Further, if a shell command has to be entered as the superuser, the |
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prompt is a mesh: |
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\begin{lstlisting} |
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# |
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\end{lstlisting} |
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%------------------------------------------------------------------------------ |
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\chapter{The IgH EtherCAT Master} |
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\label{chapter:master} |
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\pagenumbering{arabic} |
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This chapter covers some general information about the EtherCAT master. |
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%------------------------------------------------------------------------------ |
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\section{Feature Summary} |
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\label{sec:summary} |
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\index{Master!Features} |
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The list below gives a short summary of the master features. |
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\begin{itemize} |
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\item Designed as a kernel module for Linux 2.6. |
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\item Implemented according to IEC 61158-12 \cite{dlspec} \cite{alspec}. |
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\item Comes with EtherCAT-capable drivers for several common Ethernet devices. |
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\begin{itemize} |
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\item The Ethernet hardware is operated without interrupts. |
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\item Drivers for additional Ethernet hardware can easily be implemented |
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using the common device interface (see section~\ref{sec:ecdev}) provided by |
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the master module. |
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\end{itemize} |
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\item The master module supports multiple EtherCAT masters running in |
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parallel. |
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\item The master code supports any Linux realtime extension through its |
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independent architecture. |
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\begin{itemize} |
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\item RTAI\nomenclature{RTAI}{Realtime Application Interface}, |
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ADEOS\nomenclature{ADEOS}{Adaptive Domain Environment for Operating |
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Systems}, etc. |
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\item It runs well even without realtime extensions. |
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\end{itemize} |
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\item Common ``Application Interface'' for applications, that want to use |
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EtherCAT functionality (see section~\ref{sec:ecrt}). |
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\item \textit{Domains} are introduced, to allow grouping of process |
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data transfers with different slave groups and task periods. |
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\begin{itemize} |
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\item Handling of multiple domains with different task periods. |
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\item Automatic calculation of process data mapping, FMMU and sync manager |
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configuration within each domain. |
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\end{itemize} |
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\item Communication through several finite state machines. |
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\begin{itemize} |
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\item Automatic bus scanning after topology changes. |
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|
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\item Bus monitoring during operation. |
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|
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\item Automatic reconfiguration of slaves (for example after power failure) |
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during operation. |
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\end{itemize} |
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\item CANopen-over-EtherCAT (CoE) |
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\begin{itemize} |
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\item Sdo upload, download and information service. |
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|
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\item Slave configuration via Sdos. |
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|
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\item Sdo access from user-space and from the application. |
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\end{itemize} |
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\item Ethernet-over-EtherCAT (EoE) |
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\begin{itemize} |
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\item Transparent use of EoE slaves via virtual network interfaces. |
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|
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\item Natively supports either a switched or a routed EoE network |
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architecture. |
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\end{itemize} |
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\item User space command-line-tool ``ethercat`` (see |
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section~\ref{sec:ethercat}) |
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\begin{itemize} |
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|
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\item Showing the current bus with slaves, Pdos and Sdos. |
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\item Showing the bus configuration. |
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\item Showing domains and process data. |
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\item Setting the master's debug level. |
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\item Writing alias addresses. |
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\item Sdo uploading/downloading. |
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\item Reading/writing a slave's SII. |
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\item Setting slave states. |
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\item Generate slave description XML. |
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\end{itemize} |
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|
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\item Seamless system integration though LSB\nomenclature{LSB}{Linux |
270 |
Standard Base} compliance. |
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\begin{itemize} |
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|
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\item Master and network device configuration via sysconfig files. |
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|
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\item Init script for master control. |
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\end{itemize} |
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\item Virtual read-only network interface for monitoring and debugging |
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purposes. |
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\end{itemize} |
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||
285 |
%------------------------------------------------------------------------------ |
|
286 |
||
287 |
\section{License} |
|
288 |
\label{sec:license} |
|
289 |
||
290 |
The master code is released under the terms and conditions of the GNU |
|
291 |
General Public License\index{GPL} \cite{gpl} (version 2). Other |
|
292 |
developers, that want to use EtherCAT with Linux systems, are invited |
|
293 |
to use the master code or even participate on development. |
|
294 |
||
295 |
%------------------------------------------------------------------------------ |
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296 |
||
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\chapter{Architecture} |
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\label{sec:arch} |
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\index{Master!Architecture} |
300 |
||
301 |
The EtherCAT master is integrated into the Linux 2.6 kernel. This was |
|
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an early design decision, which has been made for several reasons: |
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|
304 |
\begin{itemize} |
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\item Kernel code has significantly better realtime characteristics, i.~e. |
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less latency than user space code. It was foreseeable, that a fieldbus master |
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has a lot of cyclic work to do. Cyclic work is usually triggered by timer |
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interrupts inside the kernel. The execution delay of a function that processes |
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timer interrupts is less, when it resides in kernel space, because there is no |
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need of time-consuming context switches to a user space process. |
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|
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\item It was also foreseeable, that the master code has to directly |
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communicate with the Ethernet hardware. This has to be done in the kernel |
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anyway (through network device drivers), which is one more reason for the |
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master code being in kernel space. |
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|
369 | 318 |
\end{itemize} |
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||
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Figure~\ref{fig:arch} gives a general overview of the master architecture. |
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|
322 |
\begin{figure}[htbp] |
|
323 |
\centering |
|
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\includegraphics[width=.9\textwidth]{images/architecture} |
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\caption{Master architecture} |
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\label{fig:arch} |
369 | 327 |
\end{figure} |
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||
329 |
\paragraph{Master Module} |
|
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\index{Master module} |
|
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Kernel module containing one or more EtherCAT master instances (see |
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section~\ref{sec:mastermod}), the ``Device Interface'' (see |
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section~\ref{sec:ecdev}) and the ``Application Interface'' (see |
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section~\ref{sec:ecrt}). |
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|
337 |
\paragraph{Device Modules} |
|
338 |
\index{Device modules} |
|
339 |
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EtherCAT-capable Ethernet device driver modules\index{Device modules}, that |
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offer their devices to the EtherCAT master via the device interface (see |
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section~\ref{sec:ecdev}). These modified network drivers can handle network |
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devices used for EtherCAT operation and ``normal'' Ethernet devices in |
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parallel. A master can accept a certain device and then is able to send and |
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receive EtherCAT frames. Ethernet devices declined by the master module are |
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connected to the kernel's network stack as usual. |
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|
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\paragraph{Application Modules} |
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\index{Application module} |
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|
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Kernel modules, that use the EtherCAT master (usually for cyclic exchange of |
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process data with EtherCAT slaves). These modules are not part of the EtherCAT |
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master code\footnote{Although there are some examples provided in the |
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\textit{examples/} directory.}, but have to be generated or written by the |
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user. An application module can ``request'' a master through the application |
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interface (see section~\ref{sec:ecrt}). If this succeeds, the module has the |
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control over the master: It can provide a bus configuration and exchange |
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process data. |
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|
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%------------------------------------------------------------------------------ |
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361 |
|
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\section{Phases} |
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\index{Master phases} |
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The EtherCAT master runs through several phases (see fig.~\ref{fig:phases}): |
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\begin{figure}[htbp] |
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\centering |
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\includegraphics[width=.9\textwidth]{images/phases} |
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\caption{Master phases and transitions} |
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\label{fig:phases} |
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372 |
\end{figure} |
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373 |
\begin{description} |
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374 |
|
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\item[Orphaned phase]\index{Orphaned phase} This mode takes effect, when the |
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master still waits for its Ethernet device to connect. No bus communication is |
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possible until then. |
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|
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\item[Idle phase]\index{Idle phase} takes effect when the master has accepted |
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an Ethernet device, but is not requested by any application yet. The master |
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runs its state machine (see section~\ref{sec:fsm-master}), that automatically |
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382 |
scans the bus for slaves and executes pending operations from the user space |
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|
383 |
interface (for example Sdo access). The command-line tool can be used to access |
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|
384 |
the bus, but there is no process data exchange because of the missing bus |
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|
385 |
configuration. |
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|
386 |
|
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387 |
\item[Operation phase]\index{Operation phase} The master is requested by an |
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application that can provide a bus configuration and exchange process data. |
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|
389 |
|
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\end{description} |
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|
391 |
|
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392 |
%------------------------------------------------------------------------------ |
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393 |
|
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\section{General Behavior} % FIXME |
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395 |
\index{Master behavior} |
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396 |
|
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397 |
\ldots |
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398 |
|
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% Behavior (Scanning) TODO |
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|
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%------------------------------------------------------------------------------ |
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402 |
|
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\section{Master Module} |
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\label{sec:mastermod} |
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405 |
\index{Master module} |
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|
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The EtherCAT master kernel module \textit{ec\_master} can contain multiple |
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master instances. Each master waits for a certain Ethernet device identified |
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by its MAC address\index{MAC address}. These addresses have to be specified on |
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module loading via the \textit{main\_devices} module parameter. The number of |
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master instances to initialize is taken from the number of MAC addresses |
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given. |
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|
413 |
|
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The below command loads the master module with a single master instance that |
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waits for the Ethernet device with the MAC address |
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\lstinline+00:0E:0C:DA:A2:20+. The master will be accessible via index $0$. |
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417 |
|
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418 |
\begin{lstlisting} |
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# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20}` |
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\end{lstlisting} |
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421 |
|
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MAC addresses for multiple masters have to be separated by commas: |
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|
423 |
|
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\begin{lstlisting} |
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# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20,00:e0:81:71:d5:1c}` |
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\end{lstlisting} |
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|
427 |
|
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The two masters can be addressed by their indices 0 and 1 respectively (see |
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figure~\ref{fig:masters}). The master index is needed for the |
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\lstinline+ecrt_master_request()+ function of the application interface (see |
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section~\ref{sec:ecrt}) and the \lstinline+--master+ option of the |
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\textit{ethercat} command-line tool (see section~\ref{sec:ethercat}), which |
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defaults to $0$. |
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434 |
|
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435 |
\begin{figure}[htbp] |
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436 |
\centering |
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437 |
\includegraphics[width=.5\textwidth]{images/masters} |
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\caption{Multiple masters in one module} |
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439 |
\label{fig:masters} |
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440 |
\end{figure} |
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441 |
|
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\paragraph{Init script} |
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\index{Init script} |
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|
444 |
|
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|
445 |
Most probably you won't want to load the master module and the Ethernet driver |
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|
446 |
modules manually, but start the master as a service. See |
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447 |
section~\ref{sec:system} on how to do this. |
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|
448 |
|
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|
449 |
\paragraph{Syslog} |
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|
450 |
|
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|
451 |
The master module outputs information about it's state and events to the |
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|
452 |
kernel ring buffer. These also end up in the system logs. The above module |
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|
453 |
loading command should result in the messages below: |
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|
454 |
|
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|
455 |
\begin{lstlisting} |
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|
456 |
# `\textbf{dmesg | tail -2}` |
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|
457 |
EtherCAT: Master driver `\masterversion` |
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|
458 |
EtherCAT: 2 masters waiting for devices. |
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|
459 |
|
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|
460 |
# `\textbf{tail -2 /var/log/messages}` |
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|
461 |
Jul 4 10:22:45 ethercat kernel: EtherCAT: Master driver `\masterversion` |
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|
462 |
Jul 4 10:22:45 ethercat kernel: EtherCAT: 2 masters waiting |
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|
463 |
for devices. |
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|
464 |
\end{lstlisting} |
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|
465 |
|
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|
466 |
All EtherCAT master output is prefixed with \lstinline+EtherCAT+ which makes |
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|
467 |
searching the logs easier. |
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|
468 |
|
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|
469 |
%------------------------------------------------------------------------------ |
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|
470 |
|
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471 |
\section{Handling of Process Data} % FIXME |
369 | 472 |
\label{sec:processdata} |
473 |
||
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474 |
\ldots |
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475 |
|
369 | 476 |
\paragraph{Process Data Image} |
477 |
\index{Process data} |
|
478 |
||
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|
479 |
The slaves offer their inputs and outputs by presenting the master so-called |
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|
480 |
``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be |
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|
481 |
determined by reading out the slave's TXPDO and RXPDO E$^2$PROM categories. The |
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|
482 |
application can register the Pdos for data exchange during cyclic operation. |
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|
483 |
The sum of all registered Pdos defines the ``process data image'', which is |
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|
484 |
exchanged via the ``Logical ReadWrite'' datagrams introduced |
369 | 485 |
in~\cite[section~5.4.2.4]{dlspec}. |
486 |
||
487 |
\paragraph{Process Data Domains} |
|
488 |
\index{Domain} |
|
489 |
||
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|
490 |
The process data image can be easily managed by creating so-called |
814 | 491 |
``domains'', which group Pdos and allocate the datagrams needed to |
369 | 492 |
exchange them. Domains are mandatory for process data exchange, so |
493 |
there has to be at least one. They were introduced for the following |
|
494 |
reasons: |
|
495 |
||
496 |
\begin{itemize} |
|
497 |
\item The maximum size of a ``Logical ReadWrite'' datagram is limited |
|
498 |
due to the limited size of an Ethernet frame: The maximum data size |
|
499 |
is the Ethernet data field size minus the EtherCAT frame header, |
|
500 |
EtherCAT datagram header and EtherCAT datagram footer: $1500 - 2 - |
|
501 |
12 - 2 = 1484$ octets. If the size of the process data image exceeds |
|
502 |
this limit, multiple frames have to be sent, and the image has to be |
|
503 |
partitioned for the use of multiple datagrams. A domain manages this |
|
504 |
automatically. |
|
814 | 505 |
\item Not every Pdo has to be exchanged with the same frequency: The |
506 |
values of Pdos can vary slowly over time (for example temperature |
|
369 | 507 |
values), so exchanging them with a high frequency would just waste |
508 |
bus bandwidth. For this reason, multiple domains can be created, to |
|
814 | 509 |
group different Pdos and so allow separate exchange. |
369 | 510 |
\end{itemize} |
511 |
||
512 |
There is no upper limit for the number of domains, but each domain |
|
513 |
occupies one FMMU in each slave involved, so the maximum number of |
|
514 |
domains is also limited by the slaves' capabilities. |
|
515 |
||
516 |
\paragraph{FMMU Configuration} |
|
517 |
\index{FMMU!Configuration} |
|
518 |
||
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An application can register Pdos for process data exchange. Every |
814 | 520 |
Pdo is part of a memory area in the slave's physical memory, that is |
369 | 521 |
protected by a sync manager \cite[section~6.7]{dlspec} for |
522 |
synchronized access. In order to make a sync manager react on a |
|
523 |
datagram accessing its memory, it is necessary to access the last byte |
|
524 |
covered by the sync manager. Otherwise the sync manager will not react |
|
525 |
on the datagram and no data will be exchanged. That is why the whole |
|
526 |
synchronized memory area has to be included into the process data |
|
814 | 527 |
image: For example, if a certain Pdo of a slave is registered for |
369 | 528 |
exchange with a certain domain, one FMMU will be configured to map the |
814 | 529 |
complete sync-manager-protected memory, the Pdo resides in. If a |
530 |
second Pdo of the same slave is registered for process data exchange |
|
531 |
within the same domain, and this Pdo resides in the same |
|
532 |
sync-manager-protected memory as the first Pdo, the FMMU configuration |
|
369 | 533 |
is not touched, because the appropriate memory is already part of the |
814 | 534 |
domain's process data image. If the second Pdo belongs to another |
369 | 535 |
sync-manager-protected area, this complete area is also included into |
536 |
the domains process data image. See figure~\ref{fig:fmmus} for an |
|
537 |
overview, how FMMU's are configured to map physical memory to logical |
|
538 |
process data images. |
|
539 |
||
540 |
\begin{figure}[htbp] |
|
541 |
\centering |
|
542 |
\includegraphics[width=\textwidth]{images/fmmus} |
|
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543 |
\caption{FMMU configuration for several domains} |
369 | 544 |
\label{fig:fmmus} |
545 |
\end{figure} |
|
546 |
||
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547 |
\paragraph{Process Data Pointers} % FIXME |
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548 |
|
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549 |
The figure also demonstrates the way, the application can access the exchanged |
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550 |
process data: At Pdo registration, the application has to provide the address |
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|
551 |
of a process data pointer. Upon calculation of the domain image and allocation |
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|
552 |
of process data memory, this pointer is redirected to the appropriate location |
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|
553 |
inside the domain's process data memory and can later be easily dereferenced by |
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|
554 |
the module code. |
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|
555 |
|
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|
556 |
%------------------------------------------------------------------------------ |
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|
557 |
|
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|
558 |
\chapter{Application Interface} |
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|
559 |
\label{sec:ecrt} |
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560 |
\index{Application interface} |
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|
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% Interface version |
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|
563 |
% Master Requesting and Releasing |
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|
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% Master Locking |
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|
565 |
% Slave configuration |
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% Configuring Pdo assignment and mapping |
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567 |
% Domains (memory) |
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|
568 |
% Pdo entry registration |
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|
569 |
% Sdo configuration |
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|
570 |
% Sdo access |
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|
571 |
% Cyclic operation |
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572 |
|
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|
573 |
The application interface provides functions and data structures for |
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|
574 |
applications to access and use an EtherCAT master. The complete documentation |
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|
575 |
of the interface is included as Doxygen~\cite{doxygen} comments in the header |
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|
576 |
file \textit{include/ecrt.h}. You can either directly view the file comments |
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|
577 |
or generate an HTML documentation as described in section~\ref{sec:gendoc}. |
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|
578 |
|
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|
579 |
The following sections cover a general description of the application |
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|
580 |
interface. |
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|
581 |
|
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|
582 |
Every application should use the master in two steps: |
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|
583 |
|
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|
584 |
\begin{description} |
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585 |
|
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586 |
\item[Configuration] The master is requested and the configuration is applied. |
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587 |
Domains are created Slaves are configured and Pdo entries are registered (see |
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|
588 |
section~\ref{sec:masterconfig}). |
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589 |
|
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590 |
\item[Operation] Cyclic code is run, process data is exchanged (see |
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591 |
section~\ref{sec:cyclic}). |
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592 |
|
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|
593 |
\end{description} |
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594 |
|
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\paragraph{Example Applications} \index{Example Applications} There are a few |
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596 |
example applications in the \textit{examples/} subdirectory of the master |
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597 |
code. They are documented in the source code. |
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598 |
|
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599 |
%------------------------------------------------------------------------------ |
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600 |
|
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601 |
\section{Master Configuration} |
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|
602 |
\label{sec:masterconfig} |
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603 |
|
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604 |
\ldots |
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|
605 |
% FIXME Attaching |
1094
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|
606 |
|
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|
607 |
\begin{figure}[htbp] |
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|
608 |
\centering |
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|
609 |
\includegraphics[width=.8\textwidth]{images/app-config} |
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|
610 |
\caption{Master Configuration} |
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|
611 |
\label{fig:app-config} |
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|
612 |
\end{figure} |
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|
613 |
|
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|
614 |
%------------------------------------------------------------------------------ |
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|
615 |
|
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|
616 |
\section{Cyclic Operation} |
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|
617 |
\label{sec:cyclic} |
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|
618 |
|
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|
619 |
\ldots |
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|
620 |
% FIXME PDOS endianess |
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|
621 |
|
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|
622 |
|
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|
623 |
%------------------------------------------------------------------------------ |
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|
624 |
|
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|
625 |
\section{Concurrent Master Access} % FIXME |
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626 |
\label{sec:concurr} |
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|
627 |
\index{Concurrency} |
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|
628 |
|
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|
629 |
In some cases, one master is used by several instances, for example when an |
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|
630 |
application does cyclic process data exchange, and there are EoE-capable slaves |
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|
631 |
that require to exchange Ethernet data with the kernel (see |
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|
632 |
section~\ref{sec:eoeimp}). For this reason, the master is a shared resource, |
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|
633 |
and access to it has to be sequentialized. This is usually done by locking with |
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|
634 |
semaphores, or other methods to protect critical sections. |
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635 |
|
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636 |
The master itself can not provide locking mechanisms, because it has no chance |
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637 |
to know the appropriate kind of lock. For example if the application uses RTAI |
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638 |
functionality, ordinary kernel semaphores would not be sufficient. For that, an |
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639 |
important design decision was made: The application that reserved a master must |
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640 |
have the total control, therefore it has to take responsibility for providing |
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641 |
the appropriate locking mechanisms. If another instance wants to access the |
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642 |
master, it has to request the master lock by callbacks, that have to be set by |
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643 |
the application. Moreover the application can deny access to the master if it |
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644 |
considers it to be awkward at the moment. |
369 | 645 |
|
646 |
\begin{figure}[htbp] |
|
647 |
\centering |
|
1085
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648 |
\includegraphics[width=.6\textwidth]{images/master-locks} |
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649 |
\caption{Concurrent master access} |
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650 |
\label{fig:locks} |
369 | 651 |
\end{figure} |
652 |
||
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|
653 |
Figure~\ref{fig:locks} exemplary shows, how two processes share one master: |
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654 |
The application's cyclic task uses the master for process data exchange, while |
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655 |
the master-internal EoE process uses it to communicate with EoE-capable |
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656 |
slaves. Both have to acquire the master lock before access: The application |
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657 |
task can access the lock natively, while the EoE process has to use the |
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|
658 |
callbacks. See the application interface documentation |
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Removed examples; fixed undefines references; preliminary version.
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diff
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|
659 |
(section~\ref{sec:ecrt} of how to use the locking callbacks. |
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
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|
660 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
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|
661 |
%------------------------------------------------------------------------------ |
c75cdcc5ce87
Started to re-write the documentation.
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|
662 |
|
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|
663 |
\chapter{Ethernet Devices} |
1085
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|
664 |
\label{sec:devices} |
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Started to re-write the documentation.
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|
665 |
|
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|
666 |
The EtherCAT protocol is based on the Ethernet standard, so a master relies on |
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|
667 |
standard Ethernet hardware to communicate with the bus. |
1085
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Started to re-write the documentation.
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changeset
|
668 |
|
c75cdcc5ce87
Started to re-write the documentation.
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diff
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|
669 |
The term \textit{device} is used as a synonym for Ethernet network interface |
c75cdcc5ce87
Started to re-write the documentation.
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|
670 |
hardware. There are device driver modules that handle Ethernet hardware, which |
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|
671 |
a master can use to connect to an EtherCAT bus. |
369 | 672 |
|
673 |
%------------------------------------------------------------------------------ |
|
674 |
||
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|
675 |
\section{Network Driver Basics} |
369 | 676 |
\label{sec:networkdrivers} |
677 |
\index{Network drivers} |
|
678 |
||
679 |
EtherCAT relies on Ethernet hardware and the master needs a physical |
|
680 |
Ethernet device to communicate with the bus. Therefore it is necessary |
|
681 |
to understand how Linux handles network devices and their drivers, |
|
682 |
respectively. |
|
683 |
||
684 |
\paragraph{Tasks of a Network Driver} |
|
685 |
||
1095 | 686 |
Network device drivers usually handle the lower two layers of the OSI model, |
687 |
that is the physical layer and the data-link layer. A network device itself |
|
688 |
natively handles the physical layer issues: It represents the hardware to |
|
689 |
connect to the medium and to send and receive data in the way, the physical |
|
690 |
layer protocol describes. The network device driver is responsible for getting |
|
691 |
data from the kernel's networking stack and forwarding it to the hardware, |
|
692 |
that does the physical transmission. If data is received by the hardware |
|
693 |
respectively, the driver is notified (usually by means of an interrupt) and |
|
694 |
has to read the data from the hardware memory and forward it to the network |
|
695 |
stack. There are a few more tasks, a network device driver has to handle, |
|
696 |
including queue control, statistics and device dependent features. |
|
369 | 697 |
|
698 |
\paragraph{Driver Startup} |
|
699 |
||
700 |
Usually, a driver searches for compatible devices on module loading. |
|
701 |
For PCI drivers, this is done by scanning the PCI bus and checking for |
|
702 |
known device IDs. If a device is found, data structures are allocated |
|
703 |
and the device is taken into operation. |
|
704 |
||
705 |
\paragraph{Interrupt Operation} |
|
706 |
\index{Interrupt} |
|
707 |
||
708 |
A network device usually provides a hardware interrupt that is used to |
|
1085
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|
709 |
notify the driver of received frames and success of transmission, or |
369 | 710 |
errors, respectively. The driver has to register an interrupt service |
711 |
routine (ISR\index{ISR}\nomenclature{ISR}{Interrupt Service Routine}), |
|
712 |
that is executed each time, the hardware signals such an event. If the |
|
713 |
interrupt was thrown by the own device (multiple devices can share one |
|
714 |
hardware interrupt), the reason for the interrupt has to be determined |
|
715 |
by reading the device's interrupt register. For example, if the flag |
|
716 |
for received frames is set, frame data has to be copied from hardware |
|
717 |
to kernel memory and passed to the network stack. |
|
718 |
||
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|
719 |
\paragraph{The \lstinline+net_device+ Structure} |
369 | 720 |
\index{net\_device} |
721 |
||
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|
722 |
The driver registers a \lstinline+net_device+ structure for each device to |
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|
723 |
communicate with the network stack and to create a ``network interface''. In |
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|
724 |
case of an Ethernet driver, this interface appears as \textit{ethX}, where X is |
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|
725 |
a number assigned by the kernel on registration. The \lstinline+net_device+ |
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|
726 |
structure receives events (either from user space or from the network stack) |
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|
727 |
via several callbacks, which have to be set before registration. Not every |
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|
728 |
callback is mandatory, but for reasonable operation the ones below are needed |
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|
729 |
in any case: |
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|
730 |
|
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|
731 |
\newsavebox\boxopen |
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|
732 |
\sbox\boxopen{\lstinline+open()+} |
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|
733 |
\newsavebox\boxstop |
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|
734 |
\sbox\boxstop{\lstinline+stop()+} |
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|
735 |
\newsavebox\boxxmit |
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|
736 |
\sbox\boxxmit{\lstinline+hard_start_xmit()+} |
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|
737 |
\newsavebox\boxstats |
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|
738 |
\sbox\boxstats{\lstinline+get_stats()+} |
369 | 739 |
|
740 |
\begin{description} |
|
1095 | 741 |
|
1202
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|
742 |
\item[\usebox\boxopen] This function is called when network communication has |
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|
743 |
to be started, for example after a command \lstinline+ip link set ethX up+ from |
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|
744 |
user space. Frame reception has to be enabled by the driver. |
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|
745 |
|
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|
746 |
\item[\usebox\boxstop] The purpose of this callback is to ``close'' the device, |
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|
747 |
i.~e. make the hardware stop receiving frames. |
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|
748 |
|
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|
749 |
\item[\usebox\boxxmit] This function is called for each frame that has to be |
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|
750 |
transmitted. The network stack passes the frame as a pointer to an |
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|
751 |
\lstinline+sk_buff+ structure (``socket buffer''\index{Socket buffer}, see |
1095 | 752 |
below), which has to be freed after sending. |
753 |
||
1202
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|
754 |
\item[\usebox\boxstats] This call has to return a pointer to the device's |
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|
755 |
\lstinline+net_device_stats+ structure, which permanently has to be filled with |
1095 | 756 |
frame statistics. This means, that every time a frame is received, sent, or an |
757 |
error happened, the appropriate counter in this structure has to be increased. |
|
758 |
||
759 |
\end{description} |
|
760 |
||
761 |
The actual registration is done with the \lstinline+register_netdev()+ call, |
|
762 |
unregistering is done with \lstinline+unregister_netdev()+. |
|
369 | 763 |
|
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|
764 |
\paragraph{The \lstinline+netif+ Interface} |
369 | 765 |
\index{netif} |
766 |
||
1085
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|
767 |
All other communication in the direction interface $\to$ network stack is done |
1202
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|
768 |
via the \lstinline+netif_*()+ calls. For example, on successful device opening, |
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|
769 |
the network stack has to be notified, that it can now pass frames to the |
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|
770 |
interface. This is done by calling \lstinline+netif_start_queue()+. After this |
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|
771 |
call, the \lstinline+hard_start_xmit()+ callback can be called by the network |
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|
772 |
stack. Furthermore a network driver usually manages a frame transmission queue. |
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|
773 |
If this gets filled up, the network stack has to be told to stop passing |
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|
774 |
further frames for a while. This happens with a call to |
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|
775 |
\lstinline+netif_stop_queue()+. If some frames have been sent, and there is |
1095 | 776 |
enough space again to queue new frames, this can be notified with |
777 |
\lstinline+netif_wake_queue()+. Another important call is |
|
778 |
\lstinline+netif_receive_skb()+\footnote{This function is part of the NAPI |
|
779 |
(``New API''), that replaces the kernel 2.4 technique for interfacing to the |
|
780 |
network stack (with \lstinline+netif_rx()+). NAPI is a technique to improve |
|
781 |
network performance on Linux. Read more in |
|
782 |
\url{http://www.cyberus.ca/~hadi/usenix-paper.tgz}.}: It passes a frame to the |
|
783 |
network stack, that was just received by the device. Frame data has to be |
|
1202
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|
784 |
included in a so-called ``socket buffer'' for that (see below). |
369 | 785 |
|
786 |
\paragraph{Socket Buffers} |
|
787 |
\index{Socket buffer} |
|
788 |
||
1202
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|
789 |
Socket buffers are the basic data type for the whole network stack. They serve |
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|
790 |
as containers for network data and are able to quickly add data headers and |
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|
791 |
footers, or strip them off again. Therefore a socket buffer consists of an |
1095 | 792 |
allocated buffer and several pointers that mark beginning of the buffer |
1202
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|
793 |
(\lstinline+head+), beginning of data (\lstinline+data+), end of data |
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|
794 |
(\lstinline+tail+) and end of buffer (\lstinline+end+). In addition, a socket |
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|
795 |
buffer holds network header information and (in case of received data) a |
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Next changes for the documentation.
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changeset
|
796 |
pointer to the \lstinline+net_device+, it was received on. There exist |
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changeset
|
797 |
functions that create a socket buffer (\lstinline+dev_alloc_skb()+), add data |
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changeset
|
798 |
either from front (\lstinline+skb_push()+) or back (\lstinline+skb_put()+), |
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changeset
|
799 |
remove data from front (\lstinline+skb_pull()+) or back |
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changeset
|
800 |
(\lstinline+skb_trim()+), or delete the buffer (\lstinline+kfree_skb()+). A |
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changeset
|
801 |
socket buffer is passed from layer to layer, and is freed by the layer that |
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changeset
|
802 |
uses it the last time. In case of sending, freeing has to be done by the |
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Next changes for the documentation.
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changeset
|
803 |
network driver. |
369 | 804 |
|
805 |
%------------------------------------------------------------------------------ |
|
806 |
||
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|
807 |
\section{EtherCAT Device Drivers} |
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|
808 |
\label{sec:ethercatdrivers} |
369 | 809 |
|
1095 | 810 |
There are a few requirements for Ethernet network devices to function as |
811 |
EtherCAT devices, when connected to an EtherCAT bus. |
|
369 | 812 |
|
813 |
\paragraph{Dedicated Interfaces} |
|
814 |
||
1095 | 815 |
For performance and realtime purposes, the EtherCAT master needs direct and |
1202
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changeset
|
816 |
exclusive access to the Ethernet hardware. This implies that the network device |
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changeset
|
817 |
must not be connected to the kernel's network stack as usual, because the |
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changeset
|
818 |
kernel would try to use it as an ordinary Ethernet device. |
369 | 819 |
|
820 |
\paragraph{Interrupt-less Operation} |
|
821 |
\index{Interrupt} |
|
822 |
||
1202
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|
823 |
EtherCAT frames travel through the logical EtherCAT ring and are then sent back |
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changeset
|
824 |
to the master. Communication is highly deterministic: A frame is sent and will |
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Next changes for the documentation.
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changeset
|
825 |
be received again after a constant time, so there is no need to notify the |
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changeset
|
826 |
driver about frame reception: The master can instead query the hardware for |
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changeset
|
827 |
received frames, if it expects them to be already received. |
1095 | 828 |
|
829 |
Figure~\ref{fig:interrupt} shows two workflows for cyclic frame transmission |
|
830 |
and reception with and without interrupts. |
|
369 | 831 |
|
832 |
\begin{figure}[htbp] |
|
833 |
\centering |
|
1202
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changeset
|
834 |
\includegraphics[width=.9\textwidth]{images/interrupt} |
369 | 835 |
\caption{Interrupt Operation versus Interrupt-less Operation} |
836 |
\label{fig:interrupt} |
|
837 |
\end{figure} |
|
838 |
||
1095 | 839 |
In the left workflow ``Interrupt Operation'', the data from the last cycle is |
840 |
first processed and a new frame is assembled with new datagrams, which is then |
|
841 |
sent. The cyclic work is done for now. Later, when the frame is received |
|
842 |
again by the hardware, an interrupt is triggered and the ISR is executed. The |
|
843 |
ISR will fetch the frame data from the hardware and initiate the frame |
|
844 |
dissection: The datagrams will be processed, so that the data is ready for |
|
845 |
processing in the next cycle. |
|
846 |
||
847 |
In the right workflow ``Interrupt-less Operation'', there is no hardware |
|
848 |
interrupt enabled. Instead, the hardware will be polled by the master by |
|
849 |
executing the ISR. If the frame has been received in the meantime, it will be |
|
850 |
dissected. The situation is now the same as at the beginning of the left |
|
851 |
workflow: The received data is processed and a new frame is assembled and |
|
852 |
sent. There is nothing to do for the rest of the cycle. |
|
853 |
||
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|
854 |
The interrupt-less operation is desirable, because hardware interrupts are not |
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|
855 |
conducive in improving the driver's realtime behaviour: Their indeterministic |
91d190223daa
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diff
changeset
|
856 |
incidences contribute to increasing the jitter. Besides, if a realtime |
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diff
changeset
|
857 |
extension (like RTAI) is used, some additional effort would have to be made to |
91d190223daa
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diff
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|
858 |
prioritize interrupts. |
369 | 859 |
|
860 |
\paragraph{Ethernet and EtherCAT Devices} |
|
861 |
||
1095 | 862 |
Another issue lies in the way Linux handles devices of the same type. For |
863 |
example, a PCI\nomenclature{PCI}{Peripheral Component Interconnect, Computer |
|
864 |
Bus} driver scans the PCI bus for devices it can handle. Then it registers |
|
865 |
itself as the responsible driver for all of the devices found. The problem is, |
|
866 |
that an unmodified driver can not be told to ignore a device because it will |
|
867 |
be used for EtherCAT later. There must be a way to handle multiple devices of |
|
868 |
the same type, where one is reserved for EtherCAT, while the other is treated |
|
369 | 869 |
as an ordinary Ethernet device. |
870 |
||
1095 | 871 |
For all this reasons, the author decided that the only acceptable solution is |
872 |
to modify standard Ethernet drivers in a way that they keep their normal |
|
873 |
functionality, but gain the ability to treat one or more of the devices as |
|
874 |
EtherCAT-capable. |
|
369 | 875 |
|
876 |
Below are the advantages of this solution: |
|
877 |
||
878 |
\begin{itemize} |
|
879 |
\item No need to tell the standard drivers to ignore certain devices. |
|
880 |
\item One networking driver for EtherCAT and non-EtherCAT devices. |
|
881 |
\item No need to implement a network driver from scratch and running |
|
882 |
into issues, the former developers already solved. |
|
883 |
\end{itemize} |
|
884 |
||
885 |
The chosen approach has the following disadvantages: |
|
886 |
||
887 |
\begin{itemize} |
|
888 |
\item The modified driver gets more complicated, as it must handle |
|
889 |
EtherCAT and non-EtherCAT devices. |
|
890 |
\item Many additional case differentiations in the driver code. |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
891 |
\item Changes and bug fixes on the standard drivers have to be ported |
369 | 892 |
to the Ether\-CAT-capable versions from time to time. |
893 |
\end{itemize} |
|
894 |
||
895 |
%------------------------------------------------------------------------------ |
|
896 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
897 |
\section{Device Selection} |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
898 |
\label{sec:deviceselection} |
369 | 899 |
|
1202
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|
900 |
After loading the master module, at least one EtherCAT-capable network driver |
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diff
changeset
|
901 |
module has to be loaded, that offers its devices to the master (see |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
902 |
section~\ref{sec:ecdev}. The master module knows the devices to choose from the |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
903 |
module parameters (see section~\ref{sec:mastermod}). If the init script is used |
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diff
changeset
|
904 |
to start the master, the drivers and devices to use can be specified in the |
91d190223daa
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diff
changeset
|
905 |
sysconfig file (see section~\ref{sec:sysconfig}). |
369 | 906 |
|
907 |
%------------------------------------------------------------------------------ |
|
908 |
||
1203
acb649738601
Some more documentation...
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diff
changeset
|
909 |
\section{EtherCAT Device Interface} |
369 | 910 |
\label{sec:ecdev} |
911 |
\index{Device interface} |
|
912 |
||
913 |
An anticipation to the section about the master module |
|
914 |
(section~\ref{sec:mastermod}) has to be made in order to understand |
|
915 |
the way, a network device driver module can connect a device to a |
|
916 |
specific EtherCAT master. |
|
917 |
||
1202
91d190223daa
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diff
changeset
|
918 |
The master module provides a ``device interface'' for network device drivers. |
91d190223daa
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diff
changeset
|
919 |
To use this interface, a network device driver module must include the header |
91d190223daa
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diff
changeset
|
920 |
\textit{devices/ecdev.h}\nomenclature{ecdev}{EtherCAT Device}, coming with the |
91d190223daa
Next changes for the documentation.
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parents:
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diff
changeset
|
921 |
EtherCAT master code. This header offers a function interface for EtherCAT |
91d190223daa
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diff
changeset
|
922 |
devices. All functions of the device interface are named with the prefix |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
923 |
\lstinline+ecdev+. |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
924 |
|
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Next changes for the documentation.
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diff
changeset
|
925 |
The documentation of the device interface can be found in the header file or in |
91d190223daa
Next changes for the documentation.
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parents:
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diff
changeset
|
926 |
the appropriate module of the interface documentation (see |
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Next changes for the documentation.
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diff
changeset
|
927 |
section~\ref{sec:gendoc} for generation instructions). |
91d190223daa
Next changes for the documentation.
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parents:
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diff
changeset
|
928 |
|
91d190223daa
Next changes for the documentation.
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diff
changeset
|
929 |
\ldots % FIXME general description of the device interface |
369 | 930 |
|
931 |
%------------------------------------------------------------------------------ |
|
932 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
933 |
\section{Patching Network Drivers} |
369 | 934 |
\label{sec:patching} |
935 |
\index{Network drivers} |
|
936 |
||
1202
91d190223daa
Next changes for the documentation.
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diff
changeset
|
937 |
This section will describe, how to make a standard Ethernet driver |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
938 |
EtherCAT-capable. Unfortunately, there is no standard procedure to enable an |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
939 |
Ethernet driver for use with the EtherCAT master, but there are a few common |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
940 |
techniques. |
369 | 941 |
|
942 |
\begin{enumerate} |
|
1202
91d190223daa
Next changes for the documentation.
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diff
changeset
|
943 |
|
91d190223daa
Next changes for the documentation.
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diff
changeset
|
944 |
\item A first simple rule is, that \lstinline+netif_*()+ calls must be avoided |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
945 |
for all EtherCAT devices. As mentioned before, EtherCAT devices have no |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
946 |
connection to the network stack, and therefore must not call its interface |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
947 |
functions. |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
948 |
|
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
949 |
\item Another important thing is, that EtherCAT devices should be operated |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
950 |
without interrupts. So any calls of registering interrupt handlers and enabling |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
951 |
interrupts at hardware level must be avoided, too. |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
952 |
|
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
953 |
\item The master does not use a new socket buffer for each send operation: |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
954 |
Instead there is a fix one allocated on master initialization. This socket |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
955 |
buffer is filled with an EtherCAT frame with every send operation and passed to |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
956 |
the \lstinline+hard_start_xmit()+ callback. For that it is necessary, that the |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
957 |
socket buffer is not be freed by the network driver as usual. |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
958 |
|
369 | 959 |
\end{enumerate} |
960 |
||
1202
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
961 |
An Ethernet driver usually handles several Ethernet devices, each described by |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
962 |
a \lstinline+net_device+ structure with a \lstinline+priv_data+ field to |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
963 |
attach driver-dependent data to the structure. To distinguish between normal |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
964 |
Ethernet devices and the ones used by EtherCAT masters, the private data |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
965 |
structure used by the driver could be extended by a pointer, that points to an |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
966 |
\lstinline+ec_device_t+ object returned by \lstinline+ecdev_offer()+ (see |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
967 |
section~\ref{sec:ecdev}) if the device is used by a master and otherwise is |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
968 |
zero. |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
969 |
|
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
970 |
The RealTek RTL-8139 Fast Ethernet driver is a ``simple'' Ethernet driver and |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
971 |
can be taken as an example to patch new drivers. The interesting sections can |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
972 |
be found by searching the string ``ecdev" in the file |
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
973 |
\textit{devices/8139too-2.6.24-ethercat.c}. |
369 | 974 |
|
975 |
%------------------------------------------------------------------------------ |
|
976 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
977 |
\chapter{State Machines} |
369 | 978 |
\label{sec:fsm} |
979 |
\index{FSM} |
|
980 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
981 |
Many parts of the EtherCAT master are implemented as \textit{finite state |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
982 |
machines} (FSMs\nomenclature{FSM}{Finite State Machine}). Though this leads |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
983 |
to a higher grade of complexity in some aspects, is opens many new |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
984 |
possibilities. |
369 | 985 |
|
986 |
The below short code example exemplary shows how to read all slave |
|
987 |
states and moreover illustrates the restrictions of ``sequential'' |
|
988 |
coding: |
|
989 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
990 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 991 |
ec_datagram_brd(datagram, 0x0130, 2); // prepare datagram |
992 |
if (ec_master_simple_io(master, datagram)) return -1; |
|
993 |
slave_states = EC_READ_U8(datagram->data); // process datagram |
|
994 |
\end{lstlisting} |
|
995 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
996 |
The \textit{ec\_master\_simple\_io()} function provides a simple interface for |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
997 |
synchronously sending a single datagram and receiving the result\footnote{For |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
998 |
all communication issues have been meanwhile sourced out into state machines, |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
999 |
the function is deprecated and stopped existing. Nevertheless it is adequate |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1000 |
for showing it's own restrictions.}. Internally, it queues the specified |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1001 |
datagram, invokes the \textit{ec\_master\_send\_datagrams()} function to send |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1002 |
a frame with the queued datagram and then waits actively for its reception. |
369 | 1003 |
|
1004 |
This sequential approach is very simple, reflecting in only three |
|
1005 |
lines of code. The disadvantage is, that the master is blocked for the |
|
1006 |
time it waits for datagram reception. There is no difficulty when only |
|
1007 |
one instance is using the master, but if more instances want to |
|
1008 |
(synchronously\footnote{At this time, synchronous master access will |
|
1009 |
be adequate to show the advantages of an FSM. The asynchronous |
|
1010 |
approach will be discussed in section~\ref{sec:eoeimp}}) use the |
|
1011 |
master, it is inevitable to think about an alternative to the |
|
1012 |
sequential model. |
|
1013 |
||
1014 |
Master access has to be sequentialized for more than one instance |
|
1015 |
wanting to send and receive datagrams synchronously. With the present |
|
1016 |
approach, this would result in having one phase of active waiting for |
|
1017 |
each instance, which would be non-acceptable especially in realtime |
|
1018 |
circumstances, because of the huge time overhead. |
|
1019 |
||
1020 |
A possible solution is, that all instances would be executed |
|
1021 |
sequentially to queue their datagrams, then give the control to the |
|
1022 |
next instance instead of waiting for the datagram reception. Finally, |
|
1023 |
bus IO is done by a higher instance, which means that all queued |
|
1024 |
datagrams are sent and received. The next step is to execute all |
|
1025 |
instances again, which then process their received datagrams and issue |
|
1026 |
new ones. |
|
1027 |
||
1028 |
This approach results in all instances having to retain their state, |
|
1029 |
when giving the control back to the higher instance. It is quite |
|
1030 |
obvious to use a \textit{finite state machine} model in this case. |
|
1031 |
Section~\ref{sec:fsmtheory} will introduce some of the theory used, |
|
1032 |
while the listings below show the basic approach by coding the example |
|
1033 |
from above as a state machine: |
|
1034 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1035 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1036 |
// state 1 |
1037 |
ec_datagram_brd(datagram, 0x0130, 2); // prepare datagram |
|
1038 |
ec_master_queue(master, datagram); // queue datagram |
|
1039 |
next_state = state_2; |
|
1040 |
// state processing finished |
|
1041 |
\end{lstlisting} |
|
1042 |
||
1043 |
After all instances executed their current state and queued their |
|
1044 |
datagrams, these are sent and received. Then the respective next |
|
1045 |
states are executed: |
|
1046 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1047 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1048 |
// state 2 |
1049 |
if (datagram->state != EC_DGRAM_STATE_RECEIVED) { |
|
1050 |
next_state = state_error; |
|
1051 |
return; // state processing finished |
|
1052 |
} |
|
1053 |
slave_states = EC_READ_U8(datagram->data); // process datagram |
|
1054 |
// state processing finished. |
|
1055 |
\end{lstlisting} |
|
1056 |
||
1057 |
See section~\ref{sec:statemodel} for an introduction to the |
|
1058 |
state machine programming concept used in the master code. |
|
1059 |
||
1060 |
%------------------------------------------------------------------------------ |
|
1061 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
1062 |
\section{State Machine Theory} |
369 | 1063 |
\label{sec:fsmtheory} |
1064 |
\index{FSM!Theory} |
|
1065 |
||
1066 |
A finite state machine \cite{automata} is a model of behavior with |
|
1067 |
inputs and outputs, where the outputs not only depend on the inputs, |
|
1068 |
but the history of inputs. The mathematical definition of a finite |
|
1069 |
state machine (or finite automaton) is a six-tuple $(\Sigma, \Gamma, |
|
1070 |
S, s_0, \delta, \omega)$, with |
|
1071 |
||
1072 |
\begin{itemize} |
|
1073 |
\item the input alphabet $\Sigma$, with $\Sigma \neq |
|
1074 |
\emptyset$, containing all input symbols, |
|
1075 |
\item the output alphabet $\Gamma$, with $\Gamma \neq |
|
1076 |
\emptyset$, containing all output symbols, |
|
1077 |
\item the set of states $S$, with $S \neq \emptyset$, |
|
1078 |
\item the set of initial states $s_0$ with $s_0 \subseteq S, s_0 \neq |
|
1079 |
\emptyset$ |
|
1080 |
\item the transition function $\delta: S \times \Sigma \rightarrow S |
|
1081 |
\times \Gamma$ |
|
1082 |
\item the output function $\omega$. |
|
1083 |
\end{itemize} |
|
1084 |
||
1085 |
The state transition function $\delta$ is often specified by a |
|
1086 |
\textit{state transition table}, or by a \textit{state transition |
|
1087 |
diagram}. The transition table offers a matrix view of the state |
|
1088 |
machine behavior (see table~\ref{tab:statetrans}). The matrix rows |
|
1089 |
correspond to the states ($S = \{s_0, s_1, s_2\}$) and the columns |
|
1090 |
correspond to the input symbols ($\Gamma = \{a, b, \varepsilon\}$). |
|
1091 |
The table contents in a certain row $i$ and column $j$ then represent |
|
1092 |
the next state (and possibly the output) for the case, that a certain |
|
1093 |
input symbol $\sigma_j$ is read in the state $s_i$. |
|
1094 |
||
1095 |
\begin{table}[htbp] |
|
1096 |
\caption{A typical state transition table} |
|
1097 |
\label{tab:statetrans} |
|
1098 |
\vspace{2mm} |
|
1099 |
\centering |
|
1100 |
\begin{tabular}{l|ccc} |
|
1101 |
& $a$ & $b$ & $\varepsilon$\\ \hline |
|
1102 |
$s_0$ & $s_1$ & $s_1$ & $s_2$\\ |
|
1103 |
$s_1$ & $s_2$ & $s_1$ & $s_0$\\ |
|
1104 |
$s_2$ & $s_0$ & $s_0$ & $s_0$\\ \hline |
|
1105 |
\end{tabular} |
|
1106 |
\end{table} |
|
1107 |
||
1108 |
The state diagram for the same example looks like the one in |
|
1109 |
figure~\ref{fig:statetrans}. The states are represented as circles or |
|
1110 |
ellipses and the transitions are drawn as arrows between them. Close |
|
1111 |
to a transition arrow can be the condition that must be fulfilled to |
|
1112 |
allow the transition. The initial state is marked by a filled black |
|
1113 |
circle with an arrow pointing to the respective state. |
|
1114 |
||
1115 |
\begin{figure}[htbp] |
|
1116 |
\centering |
|
1117 |
\includegraphics[width=.5\textwidth]{images/statetrans} |
|
1118 |
\caption{A typical state transition diagram} |
|
1119 |
\label{fig:statetrans} |
|
1120 |
\end{figure} |
|
1121 |
||
1122 |
\paragraph{Deterministic and non-deterministic state machines} |
|
1123 |
||
1124 |
A state machine can be deterministic, meaning that for one state and |
|
1125 |
input, there is one (and only one) following state. In this case, the |
|
1126 |
state machine has exactly one starting state. Non-deterministic state |
|
1127 |
machines can have more than one transitions for a single state-input |
|
1128 |
combination. There is a set of starting states in the latter case. |
|
1129 |
||
1130 |
\paragraph{Moore and Mealy machines} |
|
1131 |
||
1132 |
There is a distinction between so-called \textit{Moore machines}, and |
|
1133 |
\textit{Mealy machines}. Mathematically spoken, the distinction lies |
|
1134 |
in the output function $\omega$: If it only depends on the current |
|
1135 |
state ($\omega: S \rightarrow \Gamma$), the machine corresponds to the |
|
1136 |
``Moore Model''. Otherwise, if $\omega$ is a function of a state and |
|
1137 |
the input alphabet ($\omega: S \times \Sigma \rightarrow \Gamma$) the |
|
1138 |
state machine corresponds to the ``Mealy model''. Mealy machines are |
|
1139 |
the more practical solution in most cases, because their design allows |
|
1140 |
machines with a minimum number of states. In practice, a mixture of |
|
1141 |
both models is often used. |
|
1142 |
||
1143 |
\paragraph{Misunderstandings about state machines} |
|
1144 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1145 |
There is a phenomenon called ``state explosion'', that is often taken as a |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1146 |
counter-argument against general use of state machines in complex environments. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1147 |
It has to be mentioned, that this point is misleading~\cite{fsmmis}. State |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1148 |
explosions happen usually as a result of a bad state machine design: Common |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1149 |
mistakes are storing the present values of all inputs in a state, or not |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1150 |
dividing a complex state machine into simpler sub state machines. The EtherCAT |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1151 |
master uses several state machines, that are executed hierarchically and so |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1152 |
serve as sub state machines. These are also described below. |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
1153 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1154 |
%------------------------------------------------------------------------------ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
1155 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
1156 |
\section{The Master's State Model} |
369 | 1157 |
\label{sec:statemodel} |
1158 |
||
1159 |
This section will introduce the techniques used in the master to |
|
1160 |
implement state machines. |
|
1161 |
||
1162 |
\paragraph{State Machine Programming} |
|
1163 |
||
1164 |
There are certain ways to implement a state machine in \textit{C} |
|
1165 |
code. An obvious way is to implement the different states and actions |
|
1166 |
by one big case differentiation: |
|
1167 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1168 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1169 |
enum {STATE_1, STATE_2, STATE_3}; |
1170 |
int state = STATE_1; |
|
1171 |
||
1172 |
void state_machine_run(void *priv_data) { |
|
1173 |
switch (state) { |
|
1174 |
case STATE_1: |
|
1175 |
action_1(); |
|
1176 |
state = STATE_2; |
|
1177 |
break; |
|
1178 |
case STATE_2: |
|
1179 |
action_2() |
|
1180 |
if (some_condition) state = STATE_1; |
|
1181 |
else state = STATE_3; |
|
1182 |
break; |
|
1183 |
case STATE_3: |
|
1184 |
action_3(); |
|
1185 |
state = STATE_1; |
|
1186 |
break; |
|
1187 |
} |
|
1188 |
} |
|
1189 |
\end{lstlisting} |
|
1190 |
||
1191 |
For small state machines, this is an option. The disadvantage is, that |
|
1192 |
with an increasing number of states the code soon gets complex and an |
|
1193 |
additional case differentiation is executed each run. Besides, lots of |
|
1194 |
indentation is wasted. |
|
1195 |
||
1196 |
The method used in the master is to implement every state in an own |
|
1197 |
function and to store the current state function with a function |
|
1198 |
pointer: |
|
1199 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1200 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1201 |
void (*state)(void *) = state1; |
1202 |
||
1203 |
void state_machine_run(void *priv_data) { |
|
1204 |
state(priv_data); |
|
1205 |
} |
|
1206 |
||
1207 |
void state1(void *priv_data) { |
|
1208 |
action_1(); |
|
1209 |
state = state2; |
|
1210 |
} |
|
1211 |
||
1212 |
void state2(void *priv_data) { |
|
1213 |
action_2(); |
|
1214 |
if (some_condition) state = state1; |
|
1215 |
else state = state2; |
|
1216 |
} |
|
1217 |
||
1218 |
void state3(void *priv_data) { |
|
1219 |
action_3(); |
|
1220 |
state = state1; |
|
1221 |
} |
|
1222 |
\end{lstlisting} |
|
1223 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1224 |
In the master code, state pointers of all state machines\footnote{All except |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1225 |
for the EoE state machine, because multiple EoE slaves have to be handled in |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1226 |
parallel. For this reason each EoE handler object has its own state pointer.} |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
1227 |
are gathered in a single object of the \lstinline+ec_fsm_master_t+ class. This |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
1228 |
is advantageous, because there is always one instance of every state machine |
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1229 |
available and can be started on demand. |
369 | 1230 |
|
1231 |
\paragraph{Mealy and Moore} |
|
1232 |
||
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
1233 |
If a closer look is taken to the above listing, it can be seen that the |
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
1234 |
actions executed (the ``outputs'' of the state machine) only depend on the |
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
1235 |
current state. This accords to the ``Moore'' model introduced in |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
1236 |
section~\ref{sec:fsmtheory}. As mentioned, the ``Mealy'' model offers a higher |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
1237 |
flexibility, which can be seen in the listing below: |
369 | 1238 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1239 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1240 |
void state7(void *priv_data) { |
1241 |
if (some_condition) { |
|
1242 |
action_7a(); |
|
1243 |
state = state1; |
|
1244 |
} |
|
1245 |
else { |
|
1246 |
action_7b(); |
|
1247 |
state = state8; |
|
1248 |
} |
|
1249 |
} |
|
1250 |
\end{lstlisting} |
|
1251 |
||
1252 |
\begin{description} |
|
1202
91d190223daa
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1140
diff
changeset
|
1253 |
|
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changeset
|
1254 |
\item[\linenum{3} + \linenum{7}] The state function executes the actions |
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changeset
|
1255 |
depending on the state transition, that is about to be done. |
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changeset
|
1256 |
|
369 | 1257 |
\end{description} |
1258 |
||
1259 |
The most flexible alternative is to execute certain actions depending |
|
1260 |
on the state, followed by some actions dependent on the state |
|
1261 |
transition: |
|
1262 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1263 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
369 | 1264 |
void state9(void *priv_data) { |
1265 |
action_9(); |
|
1266 |
if (some_condition) { |
|
1267 |
action_9a(); |
|
1268 |
state = state7; |
|
1269 |
} |
|
1270 |
else { |
|
1271 |
action_9b(); |
|
1272 |
state = state10; |
|
1273 |
} |
|
1274 |
} |
|
1275 |
\end{lstlisting} |
|
1276 |
||
1202
91d190223daa
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parents:
1140
diff
changeset
|
1277 |
This model is often used in the master. It combines the best aspects of both |
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
1278 |
approaches. |
369 | 1279 |
|
1280 |
\paragraph{Using Sub State Machines} |
|
1281 |
||
1202
91d190223daa
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parents:
1140
diff
changeset
|
1282 |
To avoid having too much states, certain functions of the EtherCAT master |
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
1283 |
state machine have been sourced out into sub state machines. This helps to |
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1284 |
encapsulate the related workflows and moreover avoids the ``state explosion'' |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1285 |
phenomenon described in section~\ref{sec:fsmtheory}. If the master would |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1286 |
instead use one big state machine, the number of states would be a multiple of |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1287 |
the actual number. This would increase the level of complexity to a |
369 | 1288 |
non-manageable grade. |
1289 |
||
1290 |
\paragraph{Executing Sub State Machines} |
|
1291 |
||
1292 |
If a state machine starts to execute a sub state machine, it usually |
|
1293 |
remains in one state until the sub state machine terminates. This is |
|
1294 |
usually done like in the listing below, which is taken out of the |
|
1295 |
slave configuration state machine code: |
|
1296 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1297 |
\begin{lstlisting}[gobble=2,language=C,numbers=left] |
813
bfc3f1ab52de
Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents:
487
diff
changeset
|
1298 |
void ec_fsm_slaveconf_safeop(ec_fsm_t *fsm) |
369 | 1299 |
{ |
1300 |
fsm->change_state(fsm); // execute state change |
|
1301 |
// sub state machine |
|
1302 |
||
1303 |
if (fsm->change_state == ec_fsm_error) { |
|
1304 |
fsm->slave_state = ec_fsm_end; |
|
1305 |
return; |
|
1306 |
} |
|
1307 |
||
1308 |
if (fsm->change_state != ec_fsm_end) return; |
|
1309 |
||
1310 |
// continue state processing |
|
1311 |
... |
|
1312 |
\end{lstlisting} |
|
1313 |
||
1314 |
\begin{description} |
|
1202
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changeset
|
1315 |
|
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changeset
|
1316 |
\item[\linenum{3}] \lstinline+change_state+ is the state pointer of the state |
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changeset
|
1317 |
change state machine. The state function, the pointer points on, is |
91d190223daa
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parents:
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diff
changeset
|
1318 |
executed\ldots |
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diff
changeset
|
1319 |
|
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changeset
|
1320 |
\item[\linenum{6}] \ldots either until the state machine terminates with the |
91d190223daa
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changeset
|
1321 |
error state \ldots |
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diff
changeset
|
1322 |
|
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changeset
|
1323 |
\item[\linenum{11}] \ldots or until the state machine terminates in the end |
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|
1324 |
state. Until then, the ``higher'' state machine remains in the current state |
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Next changes for the documentation.
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changeset
|
1325 |
and executes the sub state machine again in the next cycle. |
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|
1326 |
|
369 | 1327 |
\end{description} |
1328 |
||
1329 |
\paragraph{State Machine Descriptions} |
|
1330 |
||
1202
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|
1331 |
The below sections describe every state machine used in the EtherCAT master. |
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changeset
|
1332 |
The textual descriptions of the state machines contain references to the |
91d190223daa
Next changes for the documentation.
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diff
changeset
|
1333 |
transitions in the corresponding state transition diagrams, that are marked |
91d190223daa
Next changes for the documentation.
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1140
diff
changeset
|
1334 |
with an arrow followed by the name of the successive state. Transitions caused |
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Next changes for the documentation.
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changeset
|
1335 |
by trivial error cases (i.~e. no response from slave) are not described |
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changeset
|
1336 |
explicitly. These transitions are drawn as dashed arrows in the diagrams. |
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Next changes for the documentation.
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changeset
|
1337 |
|
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diff
changeset
|
1338 |
%------------------------------------------------------------------------------ |
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diff
changeset
|
1339 |
|
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changeset
|
1340 |
\section{The Master State Machine} |
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changeset
|
1341 |
\label{sec:fsm-master} |
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|
1342 |
\index{FSM!Master} |
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|
1343 |
|
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|
1344 |
The master state machine is executed in the context of the master thread. |
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|
1345 |
Figure~\ref{fig:fsm-master} shows its transition diagram. Its purposes are: |
369 | 1346 |
|
1347 |
\begin{figure}[htbp] |
|
1348 |
\centering |
|
1202
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|
1349 |
\includegraphics[width=\textwidth]{graphs/fsm_master} |
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|
1350 |
\caption{Transition diagram of the master state machine} |
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|
1351 |
\label{fig:fsm-master} |
369 | 1352 |
\end{figure} |
1353 |
||
1354 |
\begin{description} |
|
1202
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|
1355 |
|
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|
1356 |
\item[Bus monitoring] The bus topology is monitored. If it changes, the bus is |
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|
1357 |
(re-)scanned. |
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|
1358 |
|
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|
1359 |
\item[Slave configuration] The application-layer states of the slaves are |
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|
1360 |
monitored. If a slave is not in the state it supposed to be, the slave is |
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|
1361 |
(re-)configured. |
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|
1362 |
|
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|
1363 |
\item[Request handling] Requests (either originating from the application or |
1203
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|
1364 |
from external sources) are handled. A request is a job that the master shall |
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|
1365 |
process asynchronously, for example an SII access, Sdo access, or similar. |
369 | 1366 |
|
1367 |
\end{description} |
|
1368 |
||
1369 |
%------------------------------------------------------------------------------ |
|
1370 |
||
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|
1371 |
\section{The Slave Scan State Machine} |
369 | 1372 |
\label{sec:fsm-scan} |
1373 |
\index{FSM!Slave Scan} |
|
1374 |
||
1375 |
The slave scan state machine, which can be seen in |
|
1202
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|
1376 |
figure~\ref{fig:fsm-slavescan}, leads through the process of reading desired |
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|
1377 |
slave information. |
369 | 1378 |
|
1379 |
\begin{figure}[htbp] |
|
1380 |
\centering |
|
1202
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|
1381 |
\includegraphics[height=.8\textheight]{graphs/fsm_slave_scan} |
369 | 1382 |
\caption{Transition diagram of the slave scan state machine} |
1383 |
\label{fig:fsm-slavescan} |
|
1384 |
\end{figure} |
|
1385 |
||
1202
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|
1386 |
The scan process includes the following steps: |
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|
1387 |
|
369 | 1388 |
\begin{description} |
1202
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|
1389 |
|
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|
1390 |
\item[Node Address] The node address is set for the slave, so that it can be |
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|
1391 |
node-addressed for all following operations. |
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diff
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|
1392 |
|
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|
1393 |
\item[AL State] The initial application-layer state is read. |
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|
1394 |
|
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|
1395 |
\item[Base Information] Base information (like the number of supported FMMUs) |
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|
1396 |
is read from the lower physical memory. |
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|
1397 |
|
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|
1398 |
\item[Data Link] Information about the physical ports is read. |
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|
1399 |
|
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|
1400 |
\item[SII Size] The size of the SII contents is determined to allocate SII |
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|
1401 |
image memory. |
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changeset
|
1402 |
|
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|
1403 |
\item[SII Data] The SII contents are read into the master's image. |
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|
1404 |
|
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|
1405 |
\item[PREOP] If the slave supports CoE, it is set to PREOP state using the |
91d190223daa
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changeset
|
1406 |
State change FSM (see section~\ref{sec:fsm-change}) to enable mailbox |
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changeset
|
1407 |
communication and read the Pdo configuration via CoE. |
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|
1408 |
|
1203
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|
1409 |
\item[Pdos] The Pdos are read via CoE (if supported) using the Pdo Reading FSM |
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|
1410 |
(see section~\ref{sec:fsm-pdo}). If this is successful, the Pdo information |
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|
1411 |
from the SII (if any) is overwritten. |
369 | 1412 |
|
1413 |
\end{description} |
|
1414 |
||
1415 |
%------------------------------------------------------------------------------ |
|
1416 |
||
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Started to re-write the documentation.
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|
1417 |
\section{The Slave Configuration State Machine} |
369 | 1418 |
\label{sec:fsm-conf} |
1419 |
\index{FSM!Slave Configuration} |
|
1420 |
||
1421 |
The slave configuration state machine, which can be seen in |
|
1202
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|
1422 |
figure~\ref{fig:fsm-slaveconf}, leads through the process of configuring a |
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|
1423 |
slave and bringing it to a certain application-layer state. |
369 | 1424 |
|
1425 |
\begin{figure}[htbp] |
|
1426 |
\centering |
|
1202
91d190223daa
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|
1427 |
\includegraphics[height=.9\textheight]{graphs/fsm_slave_conf} |
369 | 1428 |
\caption{Transition diagram of the slave configuration state |
1429 |
machine} |
|
1430 |
\label{fig:fsm-slaveconf} |
|
1431 |
\end{figure} |
|
1432 |
||
1433 |
\begin{description} |
|
1202
91d190223daa
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|
1434 |
|
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|
1435 |
\item[INIT] The state change FSM is used to bring the slave to the INIT state. |
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|
1436 |
|
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|
1437 |
\item[FMMU Clearing] To avoid that the slave reacts on any process data, the |
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|
1438 |
FMMU configuration are cleared. If the slave does not support FMMUs, this |
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|
1439 |
state is skipped. If INIT is the requested state, the state machine is |
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changeset
|
1440 |
finished. |
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changeset
|
1441 |
|
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|
1442 |
\item[Mailbox Sync Manager Configuration] If the slaves support mailbox |
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|
1443 |
communication, the mailbox sync managers are configured. Otherwise this state |
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|
1444 |
is skipped. |
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changeset
|
1445 |
|
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|
1446 |
\item[PREOP] The state change FSM is used to bring the slave to PREOP state. |
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|
1447 |
If this is the requested state, the state machine is finished. |
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|
1448 |
|
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
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|
1449 |
\item[Sdo Configuration] If there is a slave configuration attached (see |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
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|
1450 |
section~\ref{sec:masterconfig}), and there are any Sdo configurations are |
1202
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|
1451 |
provided by the application, these are sent to the slave. |
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|
1452 |
|
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|
1453 |
\item[Pdo Configuration] The Pdo configuration state machine is executed to |
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|
1454 |
apply all necessary Pdo configurations. |
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|
1455 |
|
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|
1456 |
\item[Pdo Sync Manager Configuration] If any Pdo sync managers exist, they are |
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|
1457 |
configured. |
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|
1458 |
|
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|
1459 |
\item[FMMU Configuration] If there are FMMUs configurations supplied by the |
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|
1460 |
application (i.~e. if the application registered Pdo entries), they are |
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|
1461 |
applied. |
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changeset
|
1462 |
|
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|
1463 |
\item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state. |
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|
1464 |
If this is the requested state, the state machine is finished. |
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changeset
|
1465 |
|
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|
1466 |
\item[OP] The state change FSM is used to bring the slave to OP state. |
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|
1467 |
If this is the requested state, the state machine is finished. |
369 | 1468 |
|
1469 |
\end{description} |
|
1470 |
||
1471 |
%------------------------------------------------------------------------------ |
|
1472 |
||
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|
1473 |
\section{The State Change State Machine} |
369 | 1474 |
\label{sec:fsm-change} |
1475 |
\index{FSM!State Change} |
|
1476 |
||
1477 |
The state change state machine, which can be seen in |
|
1202
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|
1478 |
figure~\ref{fig:fsm-change}, leads through the process of changing a slave's |
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|
1479 |
application-layer state. This implements the states and transitions described |
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|
1480 |
in \cite[section~6.4.1]{alspec}. |
369 | 1481 |
|
1482 |
\begin{figure}[htbp] |
|
1483 |
\centering |
|
1203
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|
1484 |
\includegraphics[width=.6\textwidth]{graphs/fsm_change} |
1202
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|
1485 |
\caption{Transition Diagram of the State Change State Machine} |
369 | 1486 |
\label{fig:fsm-change} |
1487 |
\end{figure} |
|
1488 |
||
1489 |
\begin{description} |
|
1203
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|
1490 |
|
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|
1491 |
\item[Start] The new application-layer state is requested via the ``AL Control |
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|
1492 |
Request'' register (see ~\cite[section 5.3.1]{alspec}). |
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|
1493 |
|
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|
1494 |
\item[Check for Response] Some slave need some time to respond to an AL state |
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|
1495 |
change command, and do not respond for some time. For this case, the command |
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|
1496 |
is issued again, until it is acknowledged. |
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|
1497 |
|
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|
1498 |
\item[Check AL Status] If the AL State change datagram was acknowledged, the |
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|
1499 |
``AL Control Response'' register (see~\cite[section 5.3.2]{alspec}) must be |
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|
1500 |
read out until the slave changes the AL state. |
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|
1501 |
|
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|
1502 |
\item[AL Status Code] If the slave refused the state change command, the |
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|
1503 |
reason can be read from the ``AL Status Code'' field in the ``AL State |
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|
1504 |
Changed'' registers (see~\cite[section 5.3.3]{alspec}). |
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|
1505 |
|
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|
1506 |
\item[Acknowledge State] If the state change was not successful, the master |
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|
1507 |
has to acknowledge the old state by writing to the ``AL Control request'' |
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|
1508 |
register again. |
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|
1509 |
|
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|
1510 |
\item[Check Acknowledge] After sending the acknowledge command, it has to read |
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|
1511 |
out the ``AL Control Response'' register again. |
369 | 1512 |
|
1513 |
\end{description} |
|
1514 |
||
1203
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|
1515 |
The ``start\_ack'' state is a shortcut in the state machine for the case, that |
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|
1516 |
the master wants to acknowledge a spontaneous AL state change, that was not |
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|
1517 |
requested. |
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|
1518 |
|
369 | 1519 |
%------------------------------------------------------------------------------ |
1520 |
||
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|
1521 |
\section{The SII State Machine} |
369 | 1522 |
\label{sec:fsm-sii} |
1523 |
\index{FSM!SII} |
|
1524 |
||
1525 |
The SII\index{SII} state machine (shown in figure~\ref{fig:fsm-sii}) |
|
1202
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|
1526 |
implements the process of reading or writing SII data via the |
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|
1527 |
Slave Information Interface described in \cite[section~6.4]{dlspec}. |
369 | 1528 |
|
1529 |
\begin{figure}[htbp] |
|
1530 |
\centering |
|
1203
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|
1531 |
\includegraphics[width=.5\textwidth]{graphs/fsm_sii} |
1202
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|
1532 |
\caption{Transition Diagram of the SII State Machine} |
369 | 1533 |
\label{fig:fsm-sii} |
1534 |
\end{figure} |
|
1535 |
||
1203
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|
1536 |
This is how the reading part of the state machine works: |
1202
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|
1537 |
|
369 | 1538 |
\begin{description} |
1203
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diff
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|
1539 |
|
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|
1540 |
\item[Start Reading] The read request and the requested word address are |
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diff
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|
1541 |
written to the SII attribute. |
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diff
changeset
|
1542 |
|
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|
1543 |
\item[Check Read Command] If the SII read request command has been |
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diff
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|
1544 |
acknowledged, a timer is started. A datagram is issued, that reads out the SII |
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1202
diff
changeset
|
1545 |
attribute for state and data. |
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1202
diff
changeset
|
1546 |
|
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diff
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|
1547 |
\item[Fetch Data] If the read operation is still busy (the SII is usually |
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diff
changeset
|
1548 |
implemented as an E$^2$PROM), the state is read again. Otherwise the data are |
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diff
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|
1549 |
copied from the datagram. |
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diff
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|
1550 |
|
369 | 1551 |
\end{description} |
1552 |
||
1203
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|
1553 |
The writing part works nearly similar: |
369 | 1554 |
|
1555 |
\begin{description} |
|
1203
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changeset
|
1556 |
|
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|
1557 |
\item[Start Writing] A write request, the target address and the data word are |
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1202
diff
changeset
|
1558 |
written to the SII attribute. |
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1202
diff
changeset
|
1559 |
|
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changeset
|
1560 |
\item[Check Write Command] If the SII write request command has been |
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diff
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|
1561 |
acknowledged, a timer is started. A datagram is issued, that reads out the SII |
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diff
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|
1562 |
attribute for the state of the write operation. |
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diff
changeset
|
1563 |
|
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|
1564 |
\item[Wait while Busy] If the write operation is still busy (determined by a |
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|
1565 |
minimum wait time and the state of the busy flag), the state machine remains in |
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|
1566 |
this state to avoid that another write operation is issued too early. |
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|
1567 |
|
369 | 1568 |
\end{description} |
1569 |
||
1570 |
%------------------------------------------------------------------------------ |
|
1571 |
||
1203
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|
1572 |
\section{The Pdo State Machines} |
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|
1573 |
\label{sec:fsm-pdo} |
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|
1574 |
\index{FSM!Pdo} |
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diff
changeset
|
1575 |
|
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|
1576 |
The Pdo state machines are a set of state machines that read or write the Pdo |
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|
1577 |
assignment and the Pdo mapping via the ``CoE Communication Area'' described in |
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diff
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|
1578 |
\cite[section 5.6.7.4]{alspec}. For the object access, the |
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diff
changeset
|
1579 |
CANopen-over-EtherCAT access primitives are used (see |
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diff
changeset
|
1580 |
section~\ref{sec:coeimp}), so the slave must support the CoE mailbox protocol. |
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|
1581 |
|
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diff
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|
1582 |
\paragraph{Pdo Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read}) |
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|
1583 |
has the purpose to read the complete Pdo configuration of a slave. It reads |
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|
1584 |
the Pdo assignment for each Sync Manager and uses the Pdo Entry Reading FSM |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
1585 |
(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned Pdo. |
1203
acb649738601
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diff
changeset
|
1586 |
|
acb649738601
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diff
changeset
|
1587 |
\begin{figure}[htbp] |
acb649738601
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diff
changeset
|
1588 |
\centering |
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diff
changeset
|
1589 |
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_read} |
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|
1590 |
\caption{Transition Diagram of the Pdo Reading State Machine} |
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|
1591 |
\label{fig:fsm-pdo-read} |
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changeset
|
1592 |
\end{figure} |
acb649738601
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diff
changeset
|
1593 |
|
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|
1594 |
Basically it reads the every Sync manager's Pdo assignment Sdo's |
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|
1595 |
(\lstinline+0x1C1x+) number of elements to determine the number of assigned |
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|
1596 |
Pdos for this sync manager and then reads out the subindices of the Sdo to get |
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|
1597 |
the assigned Pdo's indices. When a Pdo index is read, the Pdo Entry Reading |
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changeset
|
1598 |
FSM is executed to read the Pdo's mapped Pdo entries. |
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diff
changeset
|
1599 |
|
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|
1600 |
\paragraph{Pdo Entry Reading FSM} This state machine |
1204
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Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
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1203
diff
changeset
|
1601 |
(fig.~\ref{fig:fsm-pdo-entry-read}) reads the Pdo mapping (the Pdo entries) of |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
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1203
diff
changeset
|
1602 |
a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ - |
1203
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|
1603 |
\lstinline+0x17ff+, or \lstinline+0x1a00+ - \lstinline+0x1bff+) for the given |
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|
1604 |
Pdo by reading first the subindex zero (number of elements) to determine the |
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|
1605 |
number of mapped Pdo entries. After that, each subindex is read to get the |
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|
1606 |
mapped Pdo entry index, subindex and bit size. |
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diff
changeset
|
1607 |
|
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changeset
|
1608 |
\begin{figure}[htbp] |
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changeset
|
1609 |
\centering |
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|
1610 |
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_read} |
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|
1611 |
\caption{Transition Diagram of the Pdo Entry Reading State Machine} |
1204
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Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
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1203
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changeset
|
1612 |
\label{fig:fsm-pdo-entry-read} |
1203
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changeset
|
1613 |
\end{figure} |
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changeset
|
1614 |
|
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|
1615 |
\begin{figure}[htbp] |
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changeset
|
1616 |
\centering |
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changeset
|
1617 |
\includegraphics[width=.9\textwidth]{graphs/fsm_pdo_conf} |
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|
1618 |
\caption{Transition Diagram of the Pdo Configuration State Machine} |
1204
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Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
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1203
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changeset
|
1619 |
\label{fig:fsm-pdo-conf} |
1203
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changeset
|
1620 |
\end{figure} |
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changeset
|
1621 |
|
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changeset
|
1622 |
\begin{figure}[htbp] |
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changeset
|
1623 |
\centering |
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1202
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changeset
|
1624 |
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_conf} |
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|
1625 |
\caption{Transition Diagram of the Pdo Entry Configuration State Machine} |
1204
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Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
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1203
diff
changeset
|
1626 |
\label{fig:fsm-pdo-entry-conf} |
1203
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changeset
|
1627 |
\end{figure} |
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changeset
|
1628 |
|
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|
1629 |
%------------------------------------------------------------------------------ |
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|
1630 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
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917
diff
changeset
|
1631 |
\chapter{Mailbox Protocol Implementations} |
369 | 1632 |
\index{Mailbox} |
1633 |
||
1634 |
The EtherCAT master implements the EoE and the CoE mailbox |
|
1635 |
protocols. See the below section for details. |
|
1636 |
||
1637 |
%------------------------------------------------------------------------------ |
|
1638 |
||
1085
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Started to re-write the documentation.
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diff
changeset
|
1639 |
\section{Ethernet-over-EtherCAT (EoE)} |
369 | 1640 |
\label{sec:eoeimp} |
1641 |
\index{EoE} |
|
1642 |
||
1202
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|
1643 |
The EtherCAT master implements the Ethernet-over-EtherCAT mailbox protocol to |
91d190223daa
Next changes for the documentation.
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changeset
|
1644 |
enable the tunneling of Ethernet frames to special slaves, that can either |
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changeset
|
1645 |
have physical Ethernet ports to forward the frames to, or have an own IP stack |
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|
1646 |
to receive the frames. |
369 | 1647 |
|
1648 |
\paragraph{Virtual Network Interfaces} |
|
1649 |
||
1202
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|
1650 |
The master creates a virtual EoE network interface for every EoE-capable |
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|
1651 |
slave. These interfaces are called either |
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Next changes for the documentation.
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changeset
|
1652 |
|
91d190223daa
Next changes for the documentation.
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|
1653 |
\begin{description} |
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|
1654 |
|
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1655 |
\item[eoeXsY] for a slave without an alias address (see |
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|
1656 |
section~\ref{sec:alias}), where X is the master index and Y is the slave's |
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|
1657 |
ring position, or |
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1658 |
|
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1659 |
\item[eoeXaY] for a slave with a non-zero alias address, where X is the master |
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|
1660 |
index and Y is the decimal alias address. |
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|
1661 |
|
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|
1662 |
\end{description} |
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|
1663 |
|
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1664 |
Frames sent to these interfaces are forwarded to the associated slaves by the |
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1665 |
master. Frames, that are received by the slaves, are fetched by the master and |
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1666 |
forwarded to the virtual interfaces. |
369 | 1667 |
|
1668 |
This bears the following advantages: |
|
1669 |
||
1670 |
\begin{itemize} |
|
1202
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1671 |
|
369 | 1672 |
\item Flexibility: The user can decide, how the EoE-capable slaves are |
1202
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1673 |
interconnected with the rest of the world. |
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1674 |
|
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1675 |
\item Standard tools can be used to monitor the EoE activity and to configure |
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|
1676 |
the EoE interfaces. |
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|
1677 |
|
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1678 |
\item The Linux kernel's layer-2-bridging implementation (according to the |
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|
1679 |
IEEE 802.1D MAC Bridging standard) can be used natively to bridge Ethernet |
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1680 |
traffic between EoE-capable slaves. |
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|
1681 |
|
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1682 |
\item The Linux kernel's network stack can be used to route packets between |
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|
1683 |
EoE-capable slaves and to track security issues, just like having physical |
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|
1684 |
network interfaces. |
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|
1685 |
|
369 | 1686 |
\end{itemize} |
1687 |
||
1688 |
\paragraph{EoE Handlers} |
|
1689 |
||
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1690 |
The virtual EoE interfaces and the related functionality is encapsulated in |
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|
1691 |
the \lstinline+ec_eoe_t+ class. An object of this class is called ``EoE |
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|
1692 |
handler''. For example the master does not create the network interfaces |
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|
1693 |
directly: This is done inside the constructor of an EoE handler. An EoE |
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1694 |
handler additionally contains a frame queue. Each time, the kernel passes a |
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|
1695 |
new socket buffer for sending via the interface's |
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|
1696 |
\lstinline+hard_start_xmit()+ callback, the socket buffer is queued for |
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|
1697 |
transmission by the EoE state machine (see below). If the queue gets filled |
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|
1698 |
up, the passing of new socket buffers is suspended with a call to |
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|
1699 |
\lstinline+netif_stop_queue()+. |
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|
1700 |
|
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1701 |
\paragraph{Creation of EoE Handlers} |
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|
1702 |
|
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1703 |
During bus scanning (see section~\ref{sec:fsm-scan}), the master determines |
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|
1704 |
the supported mailbox protocols foe each slave. This is done by examining the |
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|
1705 |
``Supported Mailbox Protocols'' mask field at word address 0x001C of the |
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|
1706 |
SII\index{SII}. If bit 1 is set, the slave supports the EoE protocol. In this |
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|
1707 |
case, an EoE handler is created for that slave. |
369 | 1708 |
|
1709 |
\paragraph{EoE State Machine} |
|
1710 |
\index{FSM!EoE} |
|
1711 |
||
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|
1712 |
Every EoE handler owns an EoE state machine, that is used to send frames to |
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|
1713 |
the corresponding slave and receive frames from the it via the EoE |
369 | 1714 |
communication primitives. This state machine is showed in |
1715 |
figure~\ref{fig:fsm-eoe}. |
|
1716 |
||
1717 |
\begin{figure}[htbp] |
|
1718 |
\centering |
|
1202
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1719 |
\includegraphics[width=.7\textwidth]{images/fsm-eoe} % FIXME |
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|
1720 |
\caption{Transition Diagram of the EoE State Machine} |
369 | 1721 |
\label{fig:fsm-eoe} |
1722 |
\end{figure} |
|
1723 |
||
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1724 |
% FIXME |
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1725 |
|
369 | 1726 |
\begin{description} |
1727 |
\item[RX\_START] The beginning state of the EoE state machine. A |
|
1728 |
mailbox check datagram is sent, to query the slave's mailbox for new |
|
379 | 1729 |
frames. $\rightarrow$~RX\_CHECK |
369 | 1730 |
|
1731 |
\item[RX\_CHECK] The mailbox check datagram is received. If the |
|
1732 |
slave's mailbox did not contain data, a transmit cycle is started. |
|
379 | 1733 |
$\rightarrow$~TX\_START |
369 | 1734 |
|
1735 |
If there are new data in the mailbox, a datagram is sent to fetch |
|
379 | 1736 |
the new data. $\rightarrow$~RX\_FETCH |
369 | 1737 |
|
1738 |
\item[RX\_FETCH] The fetch datagram is received. If the mailbox data |
|
1739 |
do not contain a ``EoE Fragment request'' command, the data are |
|
1740 |
dropped and a transmit sequence is started. |
|
379 | 1741 |
$\rightarrow$~TX\_START |
369 | 1742 |
|
1743 |
If the received Ethernet frame fragment is the first fragment, a new |
|
1744 |
socket buffer is allocated. In either case, the data are copied into |
|
1745 |
the correct position of the socket buffer. |
|
1746 |
||
1747 |
If the fragment is the last fragment, the socket buffer is forwarded |
|
1748 |
to the network stack and a transmit sequence is started. |
|
379 | 1749 |
$\rightarrow$~TX\_START |
369 | 1750 |
|
1751 |
Otherwise, a new receive sequence is started to fetch the next |
|
379 | 1752 |
fragment. $\rightarrow$~RX\_\-START |
369 | 1753 |
|
1754 |
\item[TX\_START] The beginning state of a transmit sequence. It is |
|
1085
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Started to re-write the documentation.
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|
1755 |
checked, if the transmission queue contains a frame to send. If not, |
379 | 1756 |
a receive sequence is started. $\rightarrow$~RX\_START |
369 | 1757 |
|
1758 |
If there is a frame to send, it is dequeued. If the queue was |
|
1759 |
inactive before (because it was full), the queue is woken up with a |
|
1760 |
call to \textit{netif\_wake\_queue()}. The first fragment of the |
|
379 | 1761 |
frame is sent. $\rightarrow$~TX\_SENT |
369 | 1762 |
|
1763 |
\item[TX\_SENT] It is checked, if the first fragment was sent |
|
1764 |
successfully. If the current frame consists of further fragments, |
|
379 | 1765 |
the next one is sent. $\rightarrow$~TX\_SENT |
369 | 1766 |
|
1767 |
If the last fragment was sent, a new receive sequence is started. |
|
379 | 1768 |
$\rightarrow$~RX\_START |
369 | 1769 |
\end{description} |
1770 |
||
1771 |
\paragraph{EoE Processing} |
|
1772 |
||
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1773 |
To execute the EoE state machine of every active EoE handler, there must be a |
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1774 |
cyclic process. The easiest solution would be to execute the EoE state |
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1775 |
machines synchronously with the master state machine (see |
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1776 |
section~\ref{sec:fsm-master}). This approach has the following disadvantage: |
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1777 |
|
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1778 |
Only one EoE fragment could be sent or received every few cycles. This |
1085
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|
1779 |
causes the data rate to be very low, because the EoE state machines are not |
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Started to re-write the documentation.
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|
1780 |
executed in the time between the application cycles. Moreover, the data rate |
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Started to re-write the documentation.
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|
1781 |
would be dependent on the period of the application task. |
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|
1782 |
|
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1783 |
To overcome this problem, an own cyclic process is needed to asynchronously |
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1784 |
execute the EoE state machines. For that, the master owns a kernel timer, that |
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1785 |
is executed each timer interrupt. This guarantees a constant bandwidth, but |
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|
1786 |
poses the new problem of concurrent access to the master. The locking |
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|
1787 |
mechanisms needed for this are introduced in section~\ref{sec:concurr}. |
369 | 1788 |
|
1789 |
\paragraph{Automatic Configuration} |
|
1790 |
||
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1791 |
By default, slaves are left in PREOP state, if no configuration is applied. If |
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1792 |
an EoE interface link is set to ``up'', the requested slave's |
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1793 |
application-layer state is automatically set to OP. |
369 | 1794 |
|
1795 |
%------------------------------------------------------------------------------ |
|
1796 |
||
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|
1797 |
\section{CANopen-over-EtherCAT (CoE)} |
369 | 1798 |
\label{sec:coeimp} |
1799 |
\index{CoE} |
|
1800 |
||
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1801 |
The CANopen-over-EtherCAT protocol \cite[section~5.6]{alspec} is used to |
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1802 |
configure slaves and exchange data objects on application level. |
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1803 |
|
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|
1804 |
% FIXME |
1203
acb649738601
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|
1805 |
% |
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|
1806 |
% Download / Upload |
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|
1807 |
% Expedited / Normal |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
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|
1808 |
% Segmenting |
1203
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|
1809 |
% Sdo Info Services |
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|
1810 |
% |
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|
1811 |
|
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|
1812 |
\ldots |
369 | 1813 |
|
814 | 1814 |
\paragraph{Sdo Download State Machine} |
1815 |
||
1816 |
The best time to apply Sdo configurations is during the slave's PREOP |
|
379 | 1817 |
state, because mailbox communication is already possible and slave's |
1818 |
application will start with updating input data in the succeeding |
|
814 | 1819 |
SAFEOP state. Therefore the Sdo configuration has to be part of the |
379 | 1820 |
slave configuration state machine (see section~\ref{sec:fsm-conf}): It |
814 | 1821 |
is implemented via an Sdo download state machine, that is executed |
813
bfc3f1ab52de
Fixed typo SAVEOP -> SAFEOP.
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|
1822 |
just before entering the slave's SAFEOP state. In this way, it is |
814 | 1823 |
guaranteed that the Sdo configurations are applied each time, the |
379 | 1824 |
slave is reconfigured. |
369 | 1825 |
|
814 | 1826 |
The transition diagram of the Sdo Download state machine can be seen |
369 | 1827 |
in figure~\ref{fig:fsm-coedown}. |
1828 |
||
1829 |
\begin{figure}[htbp] |
|
1830 |
\centering |
|
1202
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1831 |
\includegraphics[width=.9\textwidth]{images/fsm-coedown} % FIXME |
369 | 1832 |
\caption{Transition diagram of the CoE download state machine} |
1833 |
\label{fig:fsm-coedown} |
|
1834 |
\end{figure} |
|
1835 |
||
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1836 |
% FIXME |
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|
1837 |
|
369 | 1838 |
\begin{description} |
1839 |
\item[START] The beginning state of the CoE download state |
|
814 | 1840 |
machine. The ``Sdo Download Normal Request'' mailbox command is |
379 | 1841 |
sent. $\rightarrow$~REQUEST |
369 | 1842 |
|
1843 |
\item[REQUEST] It is checked, if the CoE download request has been |
|
1844 |
received by the slave. After that, a mailbox check command is issued |
|
379 | 1845 |
and a timer is started. $\rightarrow$~CHECK |
369 | 1846 |
|
1847 |
\item[CHECK] If no mailbox data is available, the timer is checked. |
|
1848 |
\begin{itemize} |
|
814 | 1849 |
\item If it timed out, the Sdo download is aborted. |
379 | 1850 |
$\rightarrow$~ERROR |
369 | 1851 |
\item Otherwise, the mailbox is queried again. |
379 | 1852 |
$\rightarrow$~CHECK |
369 | 1853 |
\end{itemize} |
1854 |
||
1855 |
If the mailbox contains new data, the response is fetched. |
|
379 | 1856 |
$\rightarrow$~RESPONSE |
369 | 1857 |
|
1858 |
\item[RESPONSE] If the mailbox response could not be fetched, the data |
|
814 | 1859 |
is invalid, the wrong protocol was received, or a ``Abort Sdo |
1860 |
Transfer Request'' was received, the Sdo download is aborted. |
|
379 | 1861 |
$\rightarrow$~ERROR |
369 | 1862 |
|
814 | 1863 |
If a ``Sdo Download Normal Response'' acknowledgement was received, |
1864 |
the Sdo download was successful. $\rightarrow$~END |
|
1865 |
||
1866 |
\item[END] The Sdo download was successful. |
|
1867 |
||
1868 |
\item[ERROR] The Sdo download was aborted due to an error. |
|
369 | 1869 |
|
1870 |
\end{description} |
|
1871 |
||
1872 |
%------------------------------------------------------------------------------ |
|
1873 |
||
1085
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|
1874 |
\chapter{User Space} |
369 | 1875 |
\label{sec:user} |
1876 |
\index{User space} |
|
1877 |
||
1202
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|
1878 |
% FIXME |
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|
1879 |
|
1203
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diff
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|
1880 |
For the master runs as a kernel module, accessing it is natively limited to |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1881 |
analyzing Syslog messages and controlling using modutils. |
acb649738601
Some more documentation...
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diff
changeset
|
1882 |
|
acb649738601
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parents:
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diff
changeset
|
1883 |
It is necessary to implement further interfaces, that make it easier to access |
acb649738601
Some more documentation...
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1202
diff
changeset
|
1884 |
the master from user space and allow a finer influence. It should be possible |
acb649738601
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|
1885 |
to view and to change special parameters at runtime. |
acb649738601
Some more documentation...
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diff
changeset
|
1886 |
|
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diff
changeset
|
1887 |
Bus visualization is a second point: For development and debugging purposes it |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1888 |
would be nice, if one could show the connected slaves with a single command. |
acb649738601
Some more documentation...
Florian Pose <fp@igh-essen.com>
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1202
diff
changeset
|
1889 |
|
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diff
changeset
|
1890 |
Another aspect is automatic startup and configuration. If the master is to be |
acb649738601
Some more documentation...
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parents:
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diff
changeset
|
1891 |
integrated into a running system, it must be able to automatically start with |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1892 |
a persistent configuration. |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1893 |
|
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1894 |
A last thing is monitoring EtherCAT communication. For debugging purposes, |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1895 |
there had to be a way to analyze EtherCAT datagrams. The best way would be |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1896 |
with a popular network analyzer, like Wireshark \cite{wireshark} (the former |
acb649738601
Some more documentation...
Florian Pose <fp@igh-essen.com>
parents:
1202
diff
changeset
|
1897 |
Ethereal) or others. |
acb649738601
Some more documentation...
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parents:
1202
diff
changeset
|
1898 |
|
acb649738601
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parents:
1202
diff
changeset
|
1899 |
This section covers all those points and introduces the interfaces and tools |
acb649738601
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1202
diff
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|
1900 |
to make all that possible. |
369 | 1901 |
|
1902 |
%------------------------------------------------------------------------------ |
|
1903 |
||
1087
f1417824cee5
prepared command-line tool.
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diff
changeset
|
1904 |
\section{Command-line Tool} |
f1417824cee5
prepared command-line tool.
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parents:
1086
diff
changeset
|
1905 |
\label{sec:ethercat} |
f1417824cee5
prepared command-line tool.
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parents:
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diff
changeset
|
1906 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1907 |
% --master |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1908 |
|
1202
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parents:
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diff
changeset
|
1909 |
\subsection{Character Devices} |
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1910 |
\label{sec:cdev} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1911 |
|
1214 | 1912 |
Each master instance will get a character device as a userspace interface. |
1913 |
The devices are named \textit{/dev/EtherCATx}, where $x \in \{0 \ldots n\}$ is |
|
1914 |
the index of the master. |
|
1915 |
||
1916 |
\paragraph{Device Node Creation} The character device nodes are automatically |
|
1917 |
created, if the \lstinline+udev+ Package is installed. See section |
|
1918 |
\ref{sec:autonode} for how to install and configure it. |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1919 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
1920 |
%------------------------------------------------------------------------------ |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1921 |
|
1202
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
1922 |
\subsection{Setting Alias Addresses} |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
1923 |
\label{sec:alias} % FIXME |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1924 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1925 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_alias} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1926 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1927 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1928 |
|
1202
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Next changes for the documentation.
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parents:
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changeset
|
1929 |
\subsection{Displaying the Bus Configuration} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1930 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1931 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_config} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1932 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1933 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1934 |
|
1202
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changeset
|
1935 |
\subsection{Displaying Process Data} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1936 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1937 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_data} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1938 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1939 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1940 |
|
1202
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Next changes for the documentation.
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changeset
|
1941 |
\subsection{Setting a Master's Debug Level} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1942 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1943 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_debug} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1944 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1945 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1946 |
|
1202
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changeset
|
1947 |
\subsection{Configured Domains} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1948 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1949 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_domains} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1950 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1951 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1952 |
|
1202
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Next changes for the documentation.
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parents:
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diff
changeset
|
1953 |
\subsection{Master and Ethernet Devices} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1954 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1955 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_master} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1956 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1957 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1958 |
|
1202
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Next changes for the documentation.
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parents:
1140
diff
changeset
|
1959 |
\subsection{Sync Managers, Pdos and Pdo Entries} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1960 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1961 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_pdos} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1962 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1963 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1964 |
|
1202
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Next changes for the documentation.
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parents:
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diff
changeset
|
1965 |
\subsection{Sdo Dictionary} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1966 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1967 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1968 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1969 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1970 |
|
1202
91d190223daa
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parents:
1140
diff
changeset
|
1971 |
\subsection{Sdo Access} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1972 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1973 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1974 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1975 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_upload} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1976 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1977 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1978 |
|
1202
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Next changes for the documentation.
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parents:
1140
diff
changeset
|
1979 |
\subsection{Slaves on the Bus} |
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1980 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1981 |
Slave information can be gathered with the subcommand \lstinline+slaves+: |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1982 |
|
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1983 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_slaves} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1984 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1985 |
Below is a typical output: |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
1986 |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1987 |
\begin{lstlisting} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1988 |
$ `\textbf{ethercat slaves}` |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1989 |
0 0:0 PREOP + EK1100 Ethernet Kopplerklemme (2A E-Bus) |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1990 |
1 5555:0 PREOP + EL3162 2K. Ana. Eingang 0-10V |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1991 |
2 5555:1 PREOP + EL4102 2K. Ana. Ausgang 0-10V |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1992 |
3 5555:2 PREOP + EL2004 4K. Dig. Ausgang 24V, 0,5A |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1993 |
\end{lstlisting} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
1994 |
|
369 | 1995 |
%------------------------------------------------------------------------------ |
1996 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1997 |
\subsection{SII Access} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1998 |
\label{sec:siiaccess} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
1999 |
\index{SII!Access} |
369 | 2000 |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2001 |
It is possible to directly read or write the complete SII contents of the |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2002 |
slaves. This was introduced for the reasons below: |
369 | 2003 |
|
2004 |
\begin{itemize} |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2005 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2006 |
\item The format of the SII data is still in development and categories can be |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2007 |
added in the future. With read and write access, the complete memory contents |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2008 |
can be easily backed up and restored. |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2009 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2010 |
\item Some SII data fields have to be altered (like the alias address). A quick |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2011 |
writing must be possible for that. |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2012 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2013 |
\item Through reading access, analyzing category data is possible from user |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2014 |
space. |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2015 |
|
369 | 2016 |
\end{itemize} |
2017 |
||
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2018 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_read} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2019 |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2020 |
Reading out SII data is as easy as other commands. Though the data are in |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2021 |
binary format, analysis is easier with a tool like \textit{hexdump}: |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2022 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2023 |
\begin{lstlisting} |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2024 |
$ `\textbf{ethercat sii\_read --position 3 | hexdump}` |
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2025 |
0000000 0103 0000 0000 0000 0000 0000 0000 008c |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2026 |
0000010 0002 0000 3052 07f0 0000 0000 0000 0000 |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2027 |
0000020 0000 0000 0000 0000 0000 0000 0000 0000 |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2028 |
... |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2029 |
\end{lstlisting} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2030 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2031 |
Backing up SII contents can easily done with a redirection: |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2032 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2033 |
\begin{lstlisting} |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2034 |
$ `\textbf{ethercat sii\_read --position 3 > sii-of-slave3.bin}` |
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2035 |
\end{lstlisting} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2036 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2037 |
To download SII contents to a slave, writing access to the master's character |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2038 |
device is necessary (see section~\ref{sec:cdev}). |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2039 |
|
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2040 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_write} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2041 |
|
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2042 |
\begin{lstlisting} |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2043 |
# `\textbf{ethercat sii\_write --position 3 sii-of-slave3.bin}` |
1087
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2044 |
\end{lstlisting} |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2045 |
|
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2046 |
The SII contents will be checked for validity and then sent to the slave. The |
f1417824cee5
prepared command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1086
diff
changeset
|
2047 |
write operation may take a few seconds. |
369 | 2048 |
|
2049 |
%------------------------------------------------------------------------------ |
|
2050 |
||
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2051 |
\subsection{Requesting Application-Layer States} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2052 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2053 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_states} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2054 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2055 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2056 |
|
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2057 |
\subsection{Generating Slave Description XML} |
1140
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2058 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2059 |
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_xml} |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2060 |
|
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2061 |
%------------------------------------------------------------------------------ |
cc779f7d2496
Command-line help in the docs.
Florian Pose <fp@igh-essen.com>
parents:
1107
diff
changeset
|
2062 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2063 |
\section{System Integration} |
369 | 2064 |
\label{sec:system} |
2065 |
||
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2066 |
To integrate the EtherCAT master as a service into a running system, it comes |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2067 |
with an init script and a sysconfig file, that are described below. |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2068 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2069 |
\subsection{Init Script} |
369 | 2070 |
\label{sec:init} |
2071 |
\index{Init script} |
|
2072 |
||
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2073 |
The EtherCAT master init script conforms to the requirements of the ``Linux |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2074 |
Standard Base'' (LSB\index{LSB}, \cite{lsb}). The script is installed to |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2075 |
\textit{etc/init.d/ethercat} below the installation prefix and has to be |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2076 |
copied (or better: linked) to the appropriate location (see |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2077 |
section~\ref{sec:installation}), before the master can be inserted as a |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2078 |
service. Please note, that the init script depends on the sysconfig file |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2079 |
described below. |
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2080 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2081 |
To provide service dependencies (i.~e. which services have to be started before |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2082 |
others) inside the init script code, LSB defines a special comment block. |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2083 |
System tools can extract this information to insert the EtherCAT init script at |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2084 |
the correct place in the startup sequence: |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2085 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2086 |
\lstinputlisting[firstline=38,lastline=48] |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2087 |
{../script/init.d/ethercat} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2088 |
|
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2089 |
\subsection{Sysconfig File} |
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2090 |
\label{sec:sysconfig} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2091 |
\index{Sysconfig file} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2092 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2093 |
For persistent configuration, the init script uses a sysconfig file installed |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2094 |
to \textit{etc/sysconfig/ethercat} (below the installation prefix), that is |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2095 |
mandatory for the init script. The sysconfig file contains all configuration |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2096 |
variables needed to operate one or more masters. The documentation is inside |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2097 |
the file and included below: |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2098 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2099 |
\lstinputlisting[numbers=left,firstline=9,basicstyle=\ttfamily\scriptsize] |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2100 |
{../script/sysconfig/ethercat} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2101 |
|
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2102 |
\subsection{Starting the Master as a Service} |
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2103 |
\label{sec:service} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2104 |
\index{Service} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2105 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2106 |
After the init script and the sysconfig file are placed into the right |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2107 |
location, the EtherCAT master can be inserted as a service. The different Linux |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2108 |
distributions offer different ways to mark a service for starting and stopping |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2109 |
in certain runlevels. For example, SUSE Linux provides the \textit{insserv} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2110 |
command: |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2111 |
|
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2112 |
\begin{lstlisting} |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2113 |
# `\textbf{insserv ethercat}` |
369 | 2114 |
\end{lstlisting} |
2115 |
||
2116 |
The init script can also be used for manually starting and stopping |
|
2117 |
the EtherCAT master. It has to be executed with one of the parameters |
|
379 | 2118 |
\texttt{start}, \texttt{stop}, \texttt{restart} or \texttt{status}. |
369 | 2119 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2120 |
\begin{lstlisting}[gobble=2] |
379 | 2121 |
# `\textbf{/etc/init.d/ethercat restart}` |
369 | 2122 |
Shutting down EtherCAT master done |
2123 |
Starting EtherCAT master done |
|
2124 |
\end{lstlisting} |
|
2125 |
||
2126 |
%------------------------------------------------------------------------------ |
|
2127 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2128 |
\section{Monitoring and Debugging} |
369 | 2129 |
\label{sec:debug} |
2130 |
\index{Monitoring} |
|
2131 |
||
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2132 |
% FIXME |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2133 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2134 |
For debugging purposes, every EtherCAT master registers a read-only network |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2135 |
interface \textit{ecX}, where X is a number, provided by the kernel on device |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2136 |
registration. While it is ``up'', the master forwards every frame sent and |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2137 |
received to this interface. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2138 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2139 |
This makes it possible to connect an network monitor (like Wireshark or |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2140 |
tcpdump) to the debug interface and monitor the EtherCAT frames. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2141 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2142 |
% FIXME schedule() |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2143 |
It has to be considered, that can be frame rate can be very high. The master |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2144 |
state machine usually runs every kernel timer interrupt (usually up to |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2145 |
\unit{1}{\kilo\hertz}) and with a connected application, the rate can be even |
369 | 2146 |
higher. |
2147 |
||
2148 |
\paragraph{Attention:} The socket buffers needed for the operation of |
|
2149 |
the debugging interface have to be allocated dynamically. Some Linux |
|
2150 |
realtime extensions do not allow this in realtime context! |
|
2151 |
||
2152 |
%------------------------------------------------------------------------------ |
|
2153 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
2154 |
\chapter{Timing Aspects} |
369 | 2155 |
\label{sec:timing} |
2156 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2157 |
Although EtherCAT's timing is highly deterministic and therefore timing issues |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2158 |
are rare, there are a few aspects that can (and should be) dealt with. |
369 | 2159 |
|
2160 |
%------------------------------------------------------------------------------ |
|
2161 |
||
1202
91d190223daa
Next changes for the documentation.
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diff
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|
2162 |
\subsection{Application Interface Profiling} |
369 | 2163 |
\label{sec:timing-profile} |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2164 |
\index{Profiling} |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2165 |
% FIXME |
369 | 2166 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2167 |
One of the most important timing aspects are the execution times of the |
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2168 |
application interface functions, that are called in cyclic context. These |
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2169 |
functions make up an important part of the overall timing of the application. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2170 |
To measure the timing of the functions, the following code was used: |
369 | 2171 |
|
2172 |
\begin{lstlisting}[gobble=2,language=C] |
|
2173 |
c0 = get_cycles(); |
|
2174 |
ecrt_master_receive(master); |
|
2175 |
c1 = get_cycles(); |
|
2176 |
ecrt_domain_process(domain1); |
|
2177 |
c2 = get_cycles(); |
|
2178 |
ecrt_master_run(master); |
|
2179 |
c3 = get_cycles(); |
|
2180 |
ecrt_master_send(master); |
|
2181 |
c4 = get_cycles(); |
|
2182 |
\end{lstlisting} |
|
2183 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2184 |
Between each call of an interface function, the CPU timestamp counter is read. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2185 |
The counter differences are converted to \micro\second\ with help of the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2186 |
\lstinline+cpu_khz+ variable, that contains the number of increments per |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2187 |
\milli\second. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2188 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2189 |
For the actual measuring, a system with a \unit{2.0}{\giga\hertz} CPU was used, |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2190 |
that ran the above code in an RTAI thread with a period of |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2191 |
\unit{100}{\micro\second}. The measuring was repeated $n = 100$ times and the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2192 |
results were averaged. These can be seen in table~\ref{tab:profile}. |
369 | 2193 |
|
2194 |
\begin{table}[htpb] |
|
2195 |
\centering |
|
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2196 |
\caption{Profiling of an Application Cycle on a \unit{2.0}{\giga\hertz} |
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2197 |
Processor} |
369 | 2198 |
\label{tab:profile} |
2199 |
\vspace{2mm} |
|
2200 |
\begin{tabular}{l|r|r} |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2201 |
Element & Mean Duration [\second] & Standard Deviancy [\micro\second] \\ |
369 | 2202 |
\hline |
2203 |
\textit{ecrt\_master\_receive()} & 8.04 & 0.48\\ |
|
2204 |
\textit{ecrt\_domain\_process()} & 0.14 & 0.03\\ |
|
2205 |
\textit{ecrt\_master\_run()} & 0.29 & 0.12\\ |
|
2206 |
\textit{ecrt\_master\_send()} & 2.18 & 0.17\\ \hline |
|
2207 |
Complete Cycle & 10.65 & 0.69\\ \hline |
|
2208 |
\end{tabular} |
|
2209 |
\end{table} |
|
2210 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2211 |
It is obvious, that the functions accessing hardware make up the |
369 | 2212 |
lion's share. The \textit{ec\_master\_receive()} executes the ISR of |
2213 |
the Ethernet device, analyzes datagrams and copies their contents into |
|
2214 |
the memory of the datagram objects. The \textit{ec\_master\_send()} |
|
2215 |
assembles a frame out of different datagrams and copies it to the |
|
2216 |
hardware buffers. Interestingly, this makes up only a quarter of the |
|
2217 |
receiving time. |
|
2218 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2219 |
The functions that only operate on the masters internal data structures are |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2220 |
very fast ($\Delta t < \unit{1}{\micro\second}$). Interestingly the runtime of |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2221 |
\textit{ec\_domain\_process()} has a small standard deviancy relative to the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2222 |
mean value, while this ratio is about twice as big for |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2223 |
\textit{ec\_master\_run()}: This probably results from the latter function |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2224 |
having to execute code depending on the current state and the different state |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2225 |
functions are more or less complex. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2226 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2227 |
For a realtime cycle makes up about \unit{10}{\micro\second}, the theoretical |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2228 |
frequency can be up to \unit{100}{\kilo\hertz}. For two reasons, this frequency |
369 | 2229 |
keeps being theoretical: |
2230 |
||
2231 |
\begin{enumerate} |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2232 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2233 |
\item The processor must still be able to run the operating system between the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2234 |
realtime cycles. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2235 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2236 |
\item The EtherCAT frame must be sent and received, before the next realtime |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2237 |
cycle begins. The determination of the bus cycle time is difficult and covered |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2238 |
in section~\ref{sec:timing-bus}. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2239 |
|
369 | 2240 |
\end{enumerate} |
2241 |
||
2242 |
%------------------------------------------------------------------------------ |
|
2243 |
||
2244 |
\subsection{Bus Cycle Measuring} |
|
2245 |
\label{sec:timing-bus} |
|
2246 |
\index{Bus cycle} |
|
2247 |
||
2248 |
For measuring the time, a frame is ``on the wire'', two timestamps |
|
2249 |
must be be taken: |
|
2250 |
||
2251 |
\begin{enumerate} |
|
2252 |
\item The time, the Ethernet hardware begins with physically sending |
|
2253 |
the frame. |
|
2254 |
\item The time, the frame is completely received by the Ethernet |
|
2255 |
hardware. |
|
2256 |
\end{enumerate} |
|
2257 |
||
2258 |
Both times are difficult to determine. The first reason is, that the |
|
2259 |
interrupts are disabled and the master is not notified, when a frame |
|
2260 |
is sent or received (polling would distort the results). The second |
|
2261 |
reason is, that even with interrupts enabled, the time from the event |
|
2262 |
to the notification is unknown. Therefore the only way to confidently |
|
2263 |
determine the bus cycle time is an electrical measuring. |
|
2264 |
||
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2265 |
Anyway, the bus cycle time is an important factor when designing realtime |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2266 |
code, because it limits the maximum frequency for the cyclic task of the |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2267 |
application. In practice, these timing parameters are highly dependent on the |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2268 |
hardware and often a trial and error method must be used to determine the |
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
1203
diff
changeset
|
2269 |
limits of the system. |
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2270 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2271 |
The central question is: What happens, if the cycle frequency is too high? The |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2272 |
answer is, that the EtherCAT frames that have been sent at the end of the cycle |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2273 |
are not yet received, when the next cycle starts. First this is noticed by |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2274 |
\textit{ecrt\_domain\_process()}, because the working counter of the process |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2275 |
data datagrams were not increased. The function will notify the user via |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2276 |
Syslog\footnote{To limit Syslog output, a mechanism has been implemented, that |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2277 |
outputs a summarized notification at maximum once a second.}. In this case, the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2278 |
process data keeps being the same as in the last cycle, because it is not |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2279 |
erased by the domain. When the domain datagrams are queued again, the master |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2280 |
notices, that they are already queued (and marked as sent). The master will |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2281 |
mark them as unsent again and output a warning, that datagrams were |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2282 |
``skipped''. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2283 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2284 |
On the mentioned \unit{2.0}{\giga\hertz} system, the possible cycle frequency |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2285 |
can be up to \unit{25}{\kilo\hertz} without skipped frames. This value can |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2286 |
surely be increased by choosing faster hardware. Especially the RealTek network |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2287 |
hardware could be replaced by a faster one. Besides, implementing a dedicated |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2288 |
ISR for EtherCAT devices would also contribute to increasing the latency. These |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2289 |
are two points on the author's to-do list. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2290 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2291 |
%------------------------------------------------------------------------------ |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2292 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2293 |
\chapter{Installation} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2294 |
\label{sec:installation} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2295 |
\index{Master!Installation} |
369 | 2296 |
|
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2297 |
\section{Building the Software} |
1094
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2298 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2299 |
The current EtherCAT master code is available at~\cite{etherlab} or can be |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2300 |
obtained from the EtherLab CD. The \textit{tar.bz2} file has to be unpacked |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2301 |
with the commands below (or similar): |
369 | 2302 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2303 |
\begin{lstlisting}[gobble=2] |
1202
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2304 |
$ `\textbf{tar xjf ethercat-\masterversion.tar.bz2}` |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2305 |
$ `\textbf{cd ethercat-\masterversion/}` |
374
e43a29f9079e
Updated documentation concerning autotools/installation.
Florian Pose <fp@igh-essen.com>
parents:
371
diff
changeset
|
2306 |
\end{lstlisting} |
e43a29f9079e
Updated documentation concerning autotools/installation.
Florian Pose <fp@igh-essen.com>
parents:
371
diff
changeset
|
2307 |
|
e43a29f9079e
Updated documentation concerning autotools/installation.
Florian Pose <fp@igh-essen.com>
parents:
371
diff
changeset
|
2308 |
The tarball was created with GNU Autotools, so the build process |
487 | 2309 |
follows the below commands: |
369 | 2310 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2311 |
\begin{lstlisting}[gobble=2] |
1202
91d190223daa
Next changes for the documentation.
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parents:
1140
diff
changeset
|
2312 |
$ `\textbf{./configure}` |
91d190223daa
Next changes for the documentation.
Florian Pose <fp@igh-essen.com>
parents:
1140
diff
changeset
|
2313 |
$ `\textbf{make}` |
91d190223daa
Next changes for the documentation.
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1140
diff
changeset
|
2314 |
$ `\textbf{make modules}` |
374
e43a29f9079e
Updated documentation concerning autotools/installation.
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parents:
371
diff
changeset
|
2315 |
\end{lstlisting} |
e43a29f9079e
Updated documentation concerning autotools/installation.
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parents:
371
diff
changeset
|
2316 |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
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|
2317 |
Table~\ref{tab:config} lists important configuration switches and options. |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2318 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2319 |
\begin{table} |
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
2320 |
\caption{Configuration options} |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2321 |
\label{tab:config} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
2322 |
\vspace{2mm} |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2323 |
\begin{tabular}{l|p{.3\textwidth}|l} |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2324 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2325 |
\bf Option/Switch & \bf Description & \bf Default\\\hline |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
2326 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2327 |
\lstinline+--prefix+ & Installation prefix & \textit{/opt/etherlab}\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2328 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2329 |
\lstinline+--with-linux-dir+ & Linux kernel sources & Use running kernel\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2330 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2331 |
\lstinline+--with-rtai-dir+ & RTAI path (only for RTAI example) & \\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2332 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2333 |
\hline |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2334 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2335 |
\lstinline+--enable-eoe+ & Enable EoE support & yes\\ |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2336 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2337 |
\lstinline+--enable-cycles+ & Use CPU timestamp counter. Enable this on Intel |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2338 |
architecture to get finer timing calculation. & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2339 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2340 |
\lstinline+--enable-debug-if+ & Create a debug interface for each master & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2341 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
|
2342 |
\lstinline+--enable-debug-ring+ & Create a debug ring to record frames & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2343 |
|
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
2344 |
\hline |
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2345 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
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|
2346 |
\lstinline+--enable-8139too+ & Build the 8139too driver & yes\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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|
2347 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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|
2348 |
\lstinline+--with-8139too-kernel+ & 8139too kernel & $\dagger$\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2349 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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|
2350 |
\lstinline+--enable-e100+ & Build the e100 driver & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2351 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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|
2352 |
\lstinline+--with-e100-kernel+ & e100 kernel & $\dagger$\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2353 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2354 |
\lstinline+--enable-forcedeth+ & Enable forcedeth driver & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2355 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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|
2356 |
\lstinline+--with-forcedeth-kernel+ & forcedeth kernel & $\dagger$\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2357 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2358 |
\lstinline+--enable-e1000+ & Enable e1000 driver & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2359 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2360 |
\lstinline+--with-e1000-kernel+ & e1000 kernel & $\dagger$\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2361 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2362 |
\lstinline+--enable-r8169+ & Enable r8169 driver & no\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2363 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
|
2364 |
\lstinline+--with-r8169-kernel+ & r8169 kernel & $\dagger$\\ |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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diff
changeset
|
2365 |
|
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2366 |
\end{tabular} |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2367 |
\vspace{2mm} |
c75cdcc5ce87
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changeset
|
2368 |
|
c75cdcc5ce87
Started to re-write the documentation.
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|
2369 |
\begin{description} |
c75cdcc5ce87
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parents:
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changeset
|
2370 |
|
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Started to re-write the documentation.
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|
2371 |
\item[$\dagger$] If this option is not specified, the kernel version to use is |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2372 |
extracted from the Linux kernel sources. |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2373 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
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changeset
|
2374 |
\end{description} |
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2375 |
|
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2376 |
\end{table} |
487 | 2377 |
|
1202
91d190223daa
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|
2378 |
\section{Building the Interface Documentation} |
1094
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|
2379 |
\label{sec:gendoc} |
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|
2380 |
|
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|
2381 |
The source code is documented using Doxygen~\cite{doxygen}. To build the HTML |
1202
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Next changes for the documentation.
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|
2382 |
documentation, the Doxygen software has to be installed. The below command |
1095 | 2383 |
will generate the documents in the subdirectory \textit{doxygen-output}: |
1094
eb0258e53236
App interface; doxygen; bib.
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parents:
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changeset
|
2384 |
|
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2385 |
\begin{lstlisting} |
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2386 |
$ `\textbf{make doc}` |
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2387 |
\end{lstlisting} |
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2388 |
|
1204
4e3e8400c338
Removed examples; fixed undefines references; preliminary version.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2389 |
The interface documentation can be viewed by pointing a browser to the file |
1202
91d190223daa
Next changes for the documentation.
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|
2390 |
\textit{doxygen-output/html/index.html}. |
91d190223daa
Next changes for the documentation.
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changeset
|
2391 |
|
91d190223daa
Next changes for the documentation.
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|
2392 |
\section{Installing the Software} |
1094
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2393 |
|
1106
745a0cc03143
Added depmod call to docs.
Florian Pose <fp@igh-essen.com>
parents:
1095
diff
changeset
|
2394 |
The below commands have to be entered as \textit{root}: The first one will |
745a0cc03143
Added depmod call to docs.
Florian Pose <fp@igh-essen.com>
parents:
1095
diff
changeset
|
2395 |
install the EtherCAT header, init script, sysconfig file and the user space |
1202
91d190223daa
Next changes for the documentation.
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changeset
|
2396 |
tool to the prefix path. The second one will install the kernel modules to the |
91d190223daa
Next changes for the documentation.
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changeset
|
2397 |
kernel's modules directory. The final \lstinline+depmod+ call is necessary to |
91d190223daa
Next changes for the documentation.
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|
2398 |
include the kernel modules into the \textit{modules.dep} file to make it |
1106
745a0cc03143
Added depmod call to docs.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
|
2399 |
available to the \lstinline+modprobe+ command, used in the init script. |
369 | 2400 |
|
1094
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|
2401 |
\begin{lstlisting} |
1106
745a0cc03143
Added depmod call to docs.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2402 |
# `\textbf{make install}` |
1094
eb0258e53236
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|
2403 |
# `\textbf{make modules\_install}` |
1106
745a0cc03143
Added depmod call to docs.
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diff
changeset
|
2404 |
# `\textbf{depmod}` |
369 | 2405 |
\end{lstlisting} |
2406 |
||
1095 | 2407 |
If the target kernel's modules directory is not under \textit{/lib/modules}, a |
2408 |
different destination directory can be specified with the \lstinline+DESTDIR+ |
|
2409 |
make variable. For example: |
|
487 | 2410 |
|
1094
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changeset
|
2411 |
\begin{lstlisting} |
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App interface; doxygen; bib.
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changeset
|
2412 |
# `\textbf{make DESTDIR=/vol/nfs/root modules\_install}` |
487 | 2413 |
\end{lstlisting} |
2414 |
||
2415 |
This command will install the compiled kernel modules to |
|
2416 |
\textit{/vol/nfs/root/lib/modules}, prepended by the kernel release. |
|
2417 |
||
1085
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2418 |
If the EtherCAT master shall be run as a service\footnote{Even if the EtherCAT |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2419 |
master shall not be loaded on system startup, the use of the init script is |
1086
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2420 |
recommended for manual (un-)loading.} (see section~\ref{sec:system}), the init |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2421 |
script and the sysconfig file have to be copied (or linked) to the appropriate |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2422 |
locations. The below example is suitable for SUSE Linux. It may vary for other |
722ead4ecc22
Doc: Architecture, master module, system integration.
Florian Pose <fp@igh-essen.com>
parents:
1085
diff
changeset
|
2423 |
distributions. |
1085
c75cdcc5ce87
Started to re-write the documentation.
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|
2424 |
|
1107 | 2425 |
% FIXME relative ln -s? |
1094
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changeset
|
2426 |
\begin{lstlisting} |
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2427 |
# `\textbf{cd /opt/etherlab}` |
eb0258e53236
App interface; doxygen; bib.
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parents:
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changeset
|
2428 |
# `\textbf{cp etc/sysconfig/ethercat /etc/sysconfig/}` |
eb0258e53236
App interface; doxygen; bib.
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parents:
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changeset
|
2429 |
# `\textbf{ln -s etc/init.d/ethercat /etc/init.d/}` |
eb0258e53236
App interface; doxygen; bib.
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changeset
|
2430 |
# `\textbf{insserv ethercat}` |
374
e43a29f9079e
Updated documentation concerning autotools/installation.
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diff
changeset
|
2431 |
\end{lstlisting} |
e43a29f9079e
Updated documentation concerning autotools/installation.
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changeset
|
2432 |
|
376
d1441d87f5c1
Documentation: EtherLab-CD; obtaining the DEVICE_INDEX.
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changeset
|
2433 |
Now the sysconfig file \texttt{/etc/sysconfig/ethercat} (see |
1085
c75cdcc5ce87
Started to re-write the documentation.
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changeset
|
2434 |
section~\ref{sec:sysconfig}) has to be customized. The minimal customization |
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
2435 |
is to set the \lstinline+MASTER0_DEVICE+ variable to the MAC address of the |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2436 |
Ethernet device to use (or \lstinline+ff:ff:ff:ff:ff:ff+ to use the first |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2437 |
device offered) and selecting the driver(s) to load via the |
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2438 |
\lstinline+DEVICE_MODULES+ variable. |
369 | 2439 |
|
2440 |
After the basic configuration is done, the master can be started with |
|
2441 |
the below command: |
|
2442 |
||
1094
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changeset
|
2443 |
\begin{lstlisting} |
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App interface; doxygen; bib.
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parents:
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changeset
|
2444 |
# `\textbf{/etc/init.d/ethercat start}` |
369 | 2445 |
\end{lstlisting} |
2446 |
||
1214 | 2447 |
At this time, the operation of the master can be observed by viewing the |
2448 |
Syslog\index{Syslog} messages, which should look like the ones below. If |
|
2449 |
EtherCAT slaves are connected to the master's EtherCAT device, the activity |
|
2450 |
indicators should begin to flash. |
|
369 | 2451 |
|
2452 |
\begin{lstlisting}[numbers=left] |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
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diff
changeset
|
2453 |
EtherCAT: Master driver `\masterversion` |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2454 |
EtherCAT: 1 master waiting for devices. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2455 |
EtherCAT Intel(R) PRO/1000 Network Driver - version 6.0.60-k2 |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2456 |
Copyright (c) 1999-2005 Intel Corporation. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2457 |
PCI: Found IRQ 12 for device 0000:01:01.0 |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2458 |
PCI: Sharing IRQ 12 with 0000:00:1d.2 |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2459 |
PCI: Sharing IRQ 12 with 0000:00:1f.1 |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2460 |
EtherCAT: Accepting device 00:0E:0C:DA:A2:20 for master 0. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2461 |
EtherCAT: Starting master thread. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2462 |
ec_e1000: ec0: e1000_probe: Intel(R) PRO/1000 Network |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2463 |
Connection |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2464 |
ec_e1000: ec0: e1000_watchdog_task: NIC Link is Up 100 Mbps |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2465 |
Full Duplex |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2466 |
EtherCAT: Link state changed to UP. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2467 |
EtherCAT: 7 slave(s) responding. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2468 |
EtherCAT: Slave states: PREOP. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2469 |
EtherCAT: Scanning bus. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2470 |
EtherCAT: Bus scanning completed in 431 ms. |
369 | 2471 |
\end{lstlisting} |
2472 |
||
2473 |
\begin{description} |
|
1085
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2474 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2475 |
\item[\linenum{1} -- \linenum{2}] The master module is loading, and one master |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2476 |
is initialized. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2477 |
|
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2478 |
\item[\linenum{3} -- \linenum{8}] The EtherCAT-capable e1000 driver is |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2479 |
loading. The master accepts the device with the address |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2480 |
\lstinline+00:0E:0C:DA:A2:20+. |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2481 |
|
c75cdcc5ce87
Started to re-write the documentation.
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parents:
917
diff
changeset
|
2482 |
\item[\linenum{9} -- \linenum{16}] The master goes to idle phase, starts its |
c75cdcc5ce87
Started to re-write the documentation.
Florian Pose <fp@igh-essen.com>
parents:
917
diff
changeset
|
2483 |
state machine and begins scanning the bus. |
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Started to re-write the documentation.
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changeset
|
2484 |
|
369 | 2485 |
\end{description} |
2486 |
||
1214 | 2487 |
\section{Automatic Device Node Creation} |
2488 |
\label{sec:autonode} |
|
2489 |
||
2490 |
The \lstinline+ethercat+ command-line tool (see section~\ref{sec:ethercat}) |
|
2491 |
communicates with the master via a character device. The corresponding device |
|
2492 |
nodes are created automatically, if the udev daemon is running. |
|
2493 |
Note, that on some distributions, the \lstinline+udev+ package is not |
|
2494 |
installed by default. |
|
2495 |
||
2496 |
The device nodes will be created with mode \lstinline+0660+ and group |
|
2497 |
\lstinline+root+ by default. If you want to give normal users reading access, |
|
2498 |
create a udev rule file (for example |
|
2499 |
\textit{/etc/udev/rules.d/99-EtherCAT.rules} with the following content: |
|
2500 |
||
2501 |
\begin{lstlisting} |
|
2502 |
KERNEL=="EtherCAT[0-9]*", MODE="0664" |
|
2503 |
\end{lstlisting} |
|
2504 |
||
2505 |
After the udev rule file is created and the EtherCAT master is restarted with |
|
2506 |
\lstinline[breaklines=true]+/etc/init.d/ethercat restart+, the device node |
|
2507 |
will be automatically created with the desired rights: |
|
2508 |
||
2509 |
\begin{lstlisting} |
|
2510 |
# `\textbf{ls -l /dev/EtherCAT0}` |
|
2511 |
crw-rw-r-- 1 root root 252, 0 2008-09-03 16:19 /dev/EtherCAT0 |
|
2512 |
\end{lstlisting} |
|
2513 |
||
2514 |
Now, the \lstinline+ethercat+ tool can be used (see |
|
2515 |
section~\ref{sec:ethercat}) even as a non-root user. |
|
2516 |
||
369 | 2517 |
%------------------------------------------------------------------------------ |
2518 |
||
2519 |
\begin{thebibliography}{99} |
|
1094
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App interface; doxygen; bib.
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parents:
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diff
changeset
|
2520 |
|
eb0258e53236
App interface; doxygen; bib.
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parents:
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diff
changeset
|
2521 |
\bibitem{etherlab} Ingenieurgemeinschaft IgH: EtherLab -- Open Source Toolkit |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2522 |
for rapid realtime code generation under Linux with Simulink/RTW and EtherCAT |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2523 |
technology. \url{http://etherlab.org/en}, 2008. |
eb0258e53236
App interface; doxygen; bib.
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parents:
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diff
changeset
|
2524 |
|
369 | 2525 |
\bibitem{dlspec} IEC 61158-4-12: Data-link Protocol Specification. |
1095 | 2526 |
International Electrotechnical Commission (IEC), 2005. |
1094
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2527 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2528 |
\bibitem{alspec} IEC 61158-6-12: Application Layer Protocol Specification. |
1095 | 2529 |
International Electrotechnical Commission (IEC), 2005. |
1094
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2530 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2531 |
\bibitem{gpl} GNU General Public License, Version 2. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2532 |
\url{http://www.gnu.org/licenses/gpl.txt}. August~9, 2006. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2533 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2534 |
\bibitem{lsb} Linux Standard Base. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2535 |
\url{http://www.linuxfoundation.org/en/LSB}. August~9, 2006. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2536 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2537 |
\bibitem{wireshark} Wireshark. \url{http://www.wireshark.org}. 2008. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2538 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2539 |
\bibitem{automata} {\it Hopcroft, J.~E. / Ullman, J.~D.}: Introduction to |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2540 |
Automata Theory, Languages and Computation. Adison-Wesley, Reading, |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
2541 |
Mass.~1979. |
eb0258e53236
App interface; doxygen; bib.
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parents:
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diff
changeset
|
2542 |
|
369 | 2543 |
\bibitem{fsmmis} {\it Wagner, F. / Wolstenholme, P.}: State machine |
1094
eb0258e53236
App interface; doxygen; bib.
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diff
changeset
|
2544 |
misunderstandings. In: IEE journal ``Computing and Control Engineering'', |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2545 |
2004. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2546 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2547 |
\bibitem{rtai} RTAI. The RealTime Application Interface for Linux from DIAPM. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2548 |
\url{http://www.rtai.org}, 2006. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2549 |
|
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2550 |
\bibitem{doxygen} Doxygen. Source code documentation generator tool. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2551 |
\url{http://www.stack.nl/~dimitri/doxygen}, 2008. |
eb0258e53236
App interface; doxygen; bib.
Florian Pose <fp@igh-essen.com>
parents:
1087
diff
changeset
|
2552 |
|
369 | 2553 |
\end{thebibliography} |
2554 |
||
917
07b0ad9722a1
Fixed bug concerning listings package.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
2555 |
\printnomenclature |
369 | 2556 |
\addcontentsline{toc}{chapter}{\nomname} |
2557 |
\markleft{\nomname} |
|
2558 |
||
2559 |
\printindex |
|
2560 |
\markleft{Index} |
|
2561 |
||
2562 |
%------------------------------------------------------------------------------ |
|
2563 |
||
2564 |
\end{document} |
|
2565 |
||
2566 |
%------------------------------------------------------------------------------ |