author | Florian Pose <fp@igh-essen.com> |
Fri, 10 Aug 2007 15:27:08 +0000 | |
branch | stable-1.3 |
changeset 1744 | 7bc131b92039 |
parent 1739 | 5fcbd29151d2 |
child 1745 | 07fd94c5119d |
permissions | -rw-r--r-- |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
1 |
/****************************************************************************** |
0 | 2 |
* |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
3 |
* $Id$ |
0 | 4 |
* |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
5 |
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
6 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
8 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
10 |
* and/or modify it under the terms of the GNU General Public License |
246
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
11 |
* as published by the Free Software Foundation; either version 2 of the |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
12 |
* License, or (at your option) any later version. |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
13 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
14 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
15 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
16 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
17 |
* GNU General Public License for more details. |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
18 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
19 |
* You should have received a copy of the GNU General Public License |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
20 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
21 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
22 |
* |
246
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
23 |
* The right to use EtherCAT Technology is granted and comes free of |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
24 |
* charge under condition of compatibility of product made by |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
25 |
* Licensee. People intending to distribute/sell products based on the |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
26 |
* code, have to sign an agreement to guarantee that products using |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
27 |
* software based on IgH EtherCAT master stay compatible with the actual |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
28 |
* EtherCAT specification (which are released themselves as an open |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
29 |
* standard) as the (only) precondition to have the right to use EtherCAT |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
30 |
* Technology, IP and trade marks. |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
241
diff
changeset
|
31 |
* |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
32 |
*****************************************************************************/ |
0 | 33 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
34 |
/** |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
35 |
\file |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
36 |
EtherCAT master structure. |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
37 |
*/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
38 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
39 |
/*****************************************************************************/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
40 |
|
0 | 41 |
#ifndef _EC_MASTER_H_ |
42 |
#define _EC_MASTER_H_ |
|
43 |
||
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
44 |
#include <linux/list.h> |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
45 |
#include <linux/sysfs.h> |
191 | 46 |
#include <linux/timer.h> |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
47 |
#include <linux/wait.h> |
1731
60b2aad9d40b
MERGE trunk -r573:587 -> branches/stable-1.1 (race, bootstrap, mailbox bugfix, debug interface switch)
Florian Pose <fp@igh-essen.com>
parents:
1728
diff
changeset
|
48 |
#include <asm/semaphore.h> |
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
49 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
50 |
#include "device.h" |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
51 |
#include "domain.h" |
1739
5fcbd29151d2
MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
1732
diff
changeset
|
52 |
#include "fsm_master.h" |
0 | 53 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
54 |
/*****************************************************************************/ |
0 | 55 |
|
56 |
/** |
|
191 | 57 |
EtherCAT master mode. |
58 |
*/ |
|
59 |
||
60 |
typedef enum |
|
61 |
{ |
|
1715
e675450f2174
MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1)
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
62 |
EC_MASTER_MODE_ORPHANED, |
191 | 63 |
EC_MASTER_MODE_IDLE, |
1715
e675450f2174
MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1)
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
64 |
EC_MASTER_MODE_OPERATION |
191 | 65 |
} |
66 |
ec_master_mode_t; |
|
67 |
||
68 |
/*****************************************************************************/ |
|
69 |
||
70 |
/** |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
71 |
Cyclic statistics. |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
72 |
*/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
73 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
74 |
typedef struct |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
75 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
76 |
unsigned int timeouts; /**< datagram timeouts */ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
77 |
unsigned int corrupted; /**< corrupted frames */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
78 |
unsigned int skipped; /**< skipped datagrams (the ones that were |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
79 |
requeued when not yet received) */ |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
80 |
unsigned int unmatched; /**< unmatched datagrams (received, but not |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
81 |
queued any longer) */ |
1719
42ed27ae6785
MERGE trunk -r516:527 -> branches/stable-1.1 (jiffies, bugfixes, pdo defines)
Florian Pose <fp@igh-essen.com>
parents:
1716
diff
changeset
|
82 |
unsigned long output_jiffies; /**< time of last output */ |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
83 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
84 |
ec_stats_t; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
85 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
86 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
87 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
88 |
/** |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
89 |
EtherCAT master. |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
90 |
Manages slaves, domains and IO. |
0 | 91 |
*/ |
92 |
||
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
93 |
struct ec_master |
0 | 94 |
{ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
95 |
struct kobject kobj; /**< kobject */ |
241 | 96 |
unsigned int index; /**< master index */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
97 |
unsigned int reserved; /**< non-zero, if the master is reserved for RT */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
98 |
|
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
99 |
ec_device_t main_device; /**< EtherCAT device */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
100 |
const uint8_t *main_mac; /**< MAC address of main device */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
101 |
ec_device_t backup_device; /**< EtherCAT backup device */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
102 |
const uint8_t *backup_mac; /**< MAC address of backup device */ |
1731
60b2aad9d40b
MERGE trunk -r573:587 -> branches/stable-1.1 (race, bootstrap, mailbox bugfix, debug interface switch)
Florian Pose <fp@igh-essen.com>
parents:
1728
diff
changeset
|
103 |
struct semaphore device_sem; /**< device semaphore */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
104 |
|
1739
5fcbd29151d2
MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
1732
diff
changeset
|
105 |
ec_fsm_master_t fsm; /**< master state machine */ |
5fcbd29151d2
MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
1732
diff
changeset
|
106 |
ec_datagram_t fsm_datagram; /**< datagram used for state machines */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
107 |
ec_master_mode_t mode; /**< master mode */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
108 |
unsigned int injection_seq_fsm; /**< datagram injection sequence number |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
109 |
for the FSM side */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
110 |
unsigned int injection_seq_rt; /**< datagram injection sequence number |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
111 |
for the realtime side */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
112 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
113 |
struct list_head slaves; /**< list of slaves on the bus */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
114 |
unsigned int slave_count; /**< number of slaves on the bus */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
115 |
|
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
116 |
ec_request_state_t scan_state; /**< current scanning state */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
117 |
unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
118 |
struct semaphore scan_sem; /**< semaphore protecting the scan_state |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
119 |
variable and the allow_scan flag */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
120 |
wait_queue_head_t scan_queue; /**< queue for processes that wait for |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
121 |
slave scanning */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
122 |
|
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
123 |
ec_request_state_t config_state; /**< state of slave configuration */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
124 |
unsigned int allow_config; /**< non-zero, if slave scanning is allowed */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
125 |
struct semaphore config_sem; /**< semaphore protecting the config_state |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
126 |
variable and the allow_config flag */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
127 |
wait_queue_head_t config_queue; /**< queue for processes that wait for |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
128 |
slave configuration */ |
241 | 129 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
130 |
struct list_head datagram_queue; /**< datagram queue */ |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
131 |
uint8_t datagram_index; /**< current datagram index */ |
241 | 132 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
133 |
struct list_head domains; /**< list of domains */ |
241 | 134 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
135 |
int debug_level; /**< master debug level */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
136 |
ec_stats_t stats; /**< cyclic statistics */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
137 |
unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
138 |
were registered and that are offline |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
139 |
(used for bus status) */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
140 |
unsigned int frames_timed_out; /**< there were frame timeouts in the last |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
141 |
call to ecrt_master_receive() */ |
241 | 142 |
|
1739
5fcbd29151d2
MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
1732
diff
changeset
|
143 |
int thread_id; /**< master thread PID */ |
5fcbd29151d2
MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
1732
diff
changeset
|
144 |
struct completion thread_exit; /**< thread completion object */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
145 |
uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */ |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
146 |
unsigned int idle_cycle_time_pos; /**< time ring buffer position */ |
241 | 147 |
|
286
f3352378b4d4
Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
148 |
struct timer_list eoe_timer; /**< EoE timer object */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
149 |
unsigned int eoe_running; /**< non-zero, if EoE processing is active. */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
150 |
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */ |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
151 |
uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */ |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
152 |
unsigned int eoe_cycle_time_pos; /**< time ring buffer position */ |
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
153 |
|
1715
e675450f2174
MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1)
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
154 |
spinlock_t internal_lock; /**< spinlock used in idle mode */ |
204
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
155 |
int (*request_cb)(void *); /**< lock request callback */ |
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
156 |
void (*release_cb)(void *); /**< lock release callback */ |
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
157 |
void *cb_data; /**< data parameter of locking callbacks */ |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
158 |
int (*ext_request_cb)(void *); /**< external lock request callback */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
159 |
void (*ext_release_cb)(void *); /**< externam lock release callback */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
160 |
void *ext_cb_data; /**< data parameter of external locking callbacks */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
161 |
|
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
162 |
struct list_head eeprom_requests; /**< EEPROM write requests */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
163 |
struct semaphore eeprom_sem; /**< semaphore protecting the list of |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
164 |
EEPROM write requests */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
165 |
wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
166 |
write requests from user space */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
167 |
|
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
168 |
struct list_head sdo_requests; /**< SDO access requests */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
169 |
struct semaphore sdo_sem; /**< semaphore protecting the list of |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
170 |
SDO access requests */ |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
171 |
wait_queue_head_t sdo_queue; /**< wait queue for SDO access requests |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
172 |
from user space */ |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
173 |
}; |
0 | 174 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
175 |
/*****************************************************************************/ |
0 | 176 |
|
1732
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
177 |
// master creation/deletion |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
178 |
int ec_master_init(ec_master_t *, struct kobject *, unsigned int, |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
179 |
const uint8_t *, const uint8_t *); |
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
180 |
void ec_master_clear(ec_master_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
181 |
|
1732
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
182 |
// mode transitions |
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
183 |
int ec_master_enter_idle_mode(ec_master_t *); |
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
184 |
void ec_master_leave_idle_mode(ec_master_t *); |
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
185 |
int ec_master_enter_operation_mode(ec_master_t *); |
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
186 |
void ec_master_leave_operation_mode(ec_master_t *); |
191 | 187 |
|
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
188 |
// EoE |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
189 |
void ec_master_eoe_start(ec_master_t *); |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
190 |
void ec_master_eoe_stop(ec_master_t *); |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
191 |
|
1732
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
192 |
// datagram IO |
1716
9440f4ff25c7
MERGE trunk -r494:513 -> branches/stable-1.1 (SDO configuration, bugfixes, EoE frame rates)
Florian Pose <fp@igh-essen.com>
parents:
1715
diff
changeset
|
193 |
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
194 |
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *); |
0 | 195 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
196 |
// misc. |
1715
e675450f2174
MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1)
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
197 |
void ec_master_output_stats(ec_master_t *); |
1744
7bc131b92039
MERGE trunk -r770:907 -> branches-1.3 (1.3 changes)
Florian Pose <fp@igh-essen.com>
parents:
1739
diff
changeset
|
198 |
void ec_master_clear_eoe_handlers(ec_master_t *); |
1732
1cc865ba17c2
MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation)
Florian Pose <fp@igh-essen.com>
parents:
1731
diff
changeset
|
199 |
void ec_master_destroy_slaves(ec_master_t *); |
1715
e675450f2174
MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1)
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
200 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
201 |
/*****************************************************************************/ |
0 | 202 |
|
203 |
#endif |