master/master.c
author Florian Pose <fp@igh-essen.com>
Thu, 06 Dec 2012 13:54:09 +0100
branchstable-1.5
changeset 2480 8b1e26cc88ac
parent 2476 9a0d30056e70
child 2485 5535603c34a0
permissions -rw-r--r--
Fixed format specifiers.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  vim: expandtab
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/string.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/version.h>
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#include <linux/hrtimer.h>
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#include "globals.h"
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#include "slave.h"
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#include "slave_config.h"
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#include "device.h"
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#include "datagram.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "master.h"
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/*****************************************************************************/
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/** Set to 1 to enable external datagram injection debugging.
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 */
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#define DEBUG_INJECT 0
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#ifdef EC_HAVE_CYCLES
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/** Frame timeout in cycles.
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 */
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static cycles_t timeout_cycles;
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/** Timeout for external datagram injection [cycles].
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 */
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static cycles_t ext_injection_timeout_cycles;
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#else
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/** Frame timeout in jiffies.
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 */
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static unsigned long timeout_jiffies;
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/** Timeout for external datagram injection [jiffies].
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 */
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static unsigned long ext_injection_timeout_jiffies;
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#endif
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/** List of intervals for statistics [s].
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 */
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const unsigned int rate_intervals[] = {
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    1, 10, 60
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};
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/*****************************************************************************/
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void ec_master_clear_slave_configs(ec_master_t *);
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void ec_master_clear_domains(ec_master_t *);
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static int ec_master_idle_thread(void *);
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static int ec_master_operation_thread(void *);
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#ifdef EC_EOE
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static int ec_master_eoe_thread(void *);
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#endif
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void ec_master_find_dc_ref_clock(ec_master_t *);
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void ec_master_clear_device_stats(ec_master_t *);
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void ec_master_update_device_stats(ec_master_t *);
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/*****************************************************************************/
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/** Static variables initializer.
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*/
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void ec_master_init_static(void)
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{
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#ifdef EC_HAVE_CYCLES
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    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
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    ext_injection_timeout_cycles =
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        (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);
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#else
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    // one jiffy may always elapse between time measurement
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    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
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    ext_injection_timeout_jiffies =
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        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);
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#endif
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}
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/*****************************************************************************/
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/**
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diff changeset
   125
   Master constructor.
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   126
   \return 0 in case of success, else < 0
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   127
*/
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   128
674071846ee3 Translated all comments and documentation to english language.
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   129
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
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   130
        unsigned int index, /**< master index */
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   131
        const uint8_t *main_mac, /**< MAC address of main device */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   132
        const uint8_t *backup_mac, /**< MAC address of backup device */
1013
52256b75f975 Create class device with device_number information in sysfs.
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   133
        dev_t device_number, /**< Character device number. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
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   134
        struct class *class, /**< Device class. */
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
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   135
        unsigned int debug_level /**< Debug level (module parameter). */
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
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diff changeset
   136
        )
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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   137
{
1313
ed15eef57d5c Improved error case return codes of many functions.
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   138
    int ret;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   139
    unsigned int dev_idx;
1313
ed15eef57d5c Improved error case return codes of many functions.
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   140
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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   141
    master->index = index;
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
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   142
    master->reserved = 0;
446
8fede404c01f Persistent slave lists.
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   143
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326d47aa986c applied komax patch to version r1822
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   144
    sema_init(&master->master_sem, 1);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
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diff changeset
   145
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   146
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_MAX_NUM_DEVICES; dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
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   147
        master->macs[dev_idx] = NULL;
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   148
    }
d461b1f07296 Added configure option for redundancy (--with-devices).
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   149
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
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   150
    master->macs[EC_DEVICE_MAIN] = main_mac;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   151
d461b1f07296 Added configure option for redundancy (--with-devices).
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   152
#if EC_MAX_NUM_DEVICES > 1
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
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   153
    master->macs[EC_DEVICE_BACKUP] = backup_mac;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   154
    master->num_devices = 1 + !ec_mac_is_zero(backup_mac);
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   155
#else
d461b1f07296 Added configure option for redundancy (--with-devices).
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   156
    if (!ec_mac_is_zero(backup_mac)) {
d461b1f07296 Added configure option for redundancy (--with-devices).
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   157
        EC_MASTER_WARN(master, "Ignoring backup MAC address!");
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diff changeset
   158
    }
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   159
#endif
d461b1f07296 Added configure option for redundancy (--with-devices).
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   160
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
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   161
    ec_master_clear_device_stats(master);
1579
326d47aa986c applied komax patch to version r1822
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   162
326d47aa986c applied komax patch to version r1822
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   163
    sema_init(&master->device_sem, 1);
446
8fede404c01f Persistent slave lists.
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   164
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
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   165
    master->phase = EC_ORPHANED;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
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   166
    master->active = 0;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
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   167
    master->config_changed = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
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   168
    master->injection_seq_fsm = 0;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   169
    master->injection_seq_rt = 0;
446
8fede404c01f Persistent slave lists.
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   170
1000
5746fdd1ca2e Store slaves in an array instead of a list.
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   171
    master->slaves = NULL;
446
8fede404c01f Persistent slave lists.
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   172
    master->slave_count = 0;
2421
bc2d4bf9cbe5 Removed trailing spaces.
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   173
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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   174
    INIT_LIST_HEAD(&master->configs);
2300
70b15347c707 Minor: Ordered master member initialisations.
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   175
    INIT_LIST_HEAD(&master->domains);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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   176
1507
68e89abadd19 Removed unwanted tabulators.
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   177
    master->app_time = 0ULL;
68e89abadd19 Removed unwanted tabulators.
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   178
    master->app_start_time = 0ULL;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
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diff changeset
   179
    master->has_app_time = 0;
1408
91b35db64a24 Find DC reference clock.
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   180
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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   181
    master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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   182
    master->allow_scan = 1;
1579
326d47aa986c applied komax patch to version r1822
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diff changeset
   183
    sema_init(&master->scan_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   184
    init_waitqueue_head(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   185
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   186
    master->config_busy = 0;
1579
326d47aa986c applied komax patch to version r1822
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parents: 1507
diff changeset
   187
    sema_init(&master->config_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
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diff changeset
   188
    init_waitqueue_head(&master->config_queue);
2421
bc2d4bf9cbe5 Removed trailing spaces.
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diff changeset
   189
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   190
    INIT_LIST_HEAD(&master->datagram_queue);
446
8fede404c01f Persistent slave lists.
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diff changeset
   191
    master->datagram_index = 0;
8fede404c01f Persistent slave lists.
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diff changeset
   192
1500
ed1a733efbc5 Improved the callback mechanism.
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parents: 1489
diff changeset
   193
    INIT_LIST_HEAD(&master->ext_datagram_queue);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   194
    sema_init(&master->ext_queue_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   195
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   196
    INIT_LIST_HEAD(&master->external_datagram_queue);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   197
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   198
    // send interval in IDLE phase
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   199
    ec_master_set_send_interval(master, 1000000 / HZ);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   200
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   201
    master->debug_level = debug_level;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   202
    master->stats.timeouts = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   203
    master->stats.corrupted = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   204
    master->stats.unmatched = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   205
    master->stats.output_jiffies = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   206
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   207
    master->thread = NULL;
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   208
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
   209
#ifdef EC_EOE
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   210
    master->eoe_thread = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   211
    INIT_LIST_HEAD(&master->eoe_handlers);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   212
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   213
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   214
    sema_init(&master->io_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   215
    master->send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   216
    master->receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   217
    master->cb_data = NULL;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   218
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   219
    master->app_receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   220
    master->app_cb_data = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   221
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   222
    INIT_LIST_HEAD(&master->sii_requests);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
   223
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
   224
    init_waitqueue_head(&master->request_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   225
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   226
    // init devices
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   227
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   228
            dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   229
        ret = ec_device_init(&master->devices[dev_idx], master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   230
        if (ret < 0) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   231
            goto out_clear_devices;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   232
        }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   233
    }
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   234
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   235
    // init state machine datagram
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   236
    ec_datagram_init(&master->fsm_datagram);
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   237
    snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   238
    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   239
    if (ret < 0) {
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   240
        ec_datagram_clear(&master->fsm_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   241
        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   242
        goto out_clear_devices;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   243
    }
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   244
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   245
    // create state machine object
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   246
    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   247
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   248
    // init reference sync datagram
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   249
    ec_datagram_init(&master->ref_sync_datagram);
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   250
    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   251
            "refsync");
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   252
    ret = ec_datagram_prealloc(&master->ref_sync_datagram, 4);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   253
    if (ret < 0) {
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   254
        ec_datagram_clear(&master->ref_sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   255
        EC_MASTER_ERR(master, "Failed to allocate reference"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   256
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   257
        goto out_clear_fsm;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   258
    }
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   259
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   260
    // init sync datagram
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   261
    ec_datagram_init(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   262
    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   263
    ret = ec_datagram_prealloc(&master->sync_datagram, 4);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   264
    if (ret < 0) {
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   265
        ec_datagram_clear(&master->sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   266
        EC_MASTER_ERR(master, "Failed to allocate"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   267
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   268
        goto out_clear_ref_sync;
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   269
    }
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   270
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   271
    // init sync monitor datagram
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   272
    ec_datagram_init(&master->sync_mon_datagram);
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   273
    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   274
            "syncmon");
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   275
    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   276
    if (ret < 0) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   277
        ec_datagram_clear(&master->sync_mon_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   278
        EC_MASTER_ERR(master, "Failed to allocate sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   279
                " monitoring datagram.\n");
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   280
        goto out_clear_sync;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   281
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   282
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   283
    master->dc_ref_config = NULL;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   284
    master->dc_ref_clock = NULL;
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   285
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   286
    // init character device
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   287
    ret = ec_cdev_init(&master->cdev, master, device_number);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   288
    if (ret)
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   289
        goto out_clear_sync_mon;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   290
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   291
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   292
    master->class_device = device_create(class, NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   293
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   294
            "EtherCAT%u", master->index);
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   295
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   296
    master->class_device = device_create(class, NULL,
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   297
            MKDEV(MAJOR(device_number), master->index),
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   298
            "EtherCAT%u", master->index);
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   299
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   300
    master->class_device = class_device_create(class, NULL,
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   301
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   302
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
Florian Pose <fp@igh-essen.com>
parents: 1013
diff changeset
   303
#else
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   304
    master->class_device = class_device_create(class,
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   305
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   306
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
Florian Pose <fp@igh-essen.com>
parents: 1013
diff changeset
   307
#endif
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   308
    if (IS_ERR(master->class_device)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   309
        EC_MASTER_ERR(master, "Failed to create class device!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   310
        ret = PTR_ERR(master->class_device);
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   311
        goto out_clear_cdev;
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   312
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   313
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   314
#ifdef EC_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   315
    // init RTDM device
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   316
    ret = ec_rtdm_dev_init(&master->rtdm_dev, master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   317
    if (ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   318
        goto out_unregister_class_device;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   319
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   320
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   321
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   322
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   323
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   324
#ifdef EC_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   325
out_unregister_class_device:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   326
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   327
    device_unregister(master->class_device);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   328
#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   329
    class_device_unregister(master->class_device);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   330
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   331
#endif
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   332
out_clear_cdev:
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   333
    ec_cdev_clear(&master->cdev);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   334
out_clear_sync_mon:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   335
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   336
out_clear_sync:
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   337
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   338
out_clear_ref_sync:
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   339
    ec_datagram_clear(&master->ref_sync_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   340
out_clear_fsm:
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   341
    ec_fsm_master_clear(&master->fsm);
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   342
    ec_datagram_clear(&master->fsm_datagram);
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   343
out_clear_devices:
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   344
    for (; dev_idx > 0; dev_idx--) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   345
        ec_device_clear(&master->devices[dev_idx - 1]);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   346
    }
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   347
    return ret;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 35
diff changeset
   350
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   352
/** Destructor.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   353
*/
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   354
void ec_master_clear(
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   355
        ec_master_t *master /**< EtherCAT master */
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   356
        )
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   357
{
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   358
    unsigned int dev_idx;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   359
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   360
#ifdef EC_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   361
    ec_rtdm_dev_clear(&master->rtdm_dev);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   362
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   363
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   364
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   365
    device_unregister(master->class_device);
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   366
#else
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   367
    class_device_unregister(master->class_device);
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   368
#endif
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   369
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   370
    ec_cdev_clear(&master->cdev);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   371
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   372
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   373
    ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   374
#endif
994
e29edcced328 Clear domains before slave configs, because domain references the FMMU
Florian Pose <fp@igh-essen.com>
parents: 993
diff changeset
   375
    ec_master_clear_domains(master);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   376
    ec_master_clear_slave_configs(master);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   377
    ec_master_clear_slaves(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   378
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   379
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   380
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   381
    ec_datagram_clear(&master->ref_sync_datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   382
    ec_fsm_master_clear(&master->fsm);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   383
    ec_datagram_clear(&master->fsm_datagram);
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   384
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   385
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   386
            dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   387
        ec_device_clear(&master->devices[dev_idx]);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   388
    }
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   389
}
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   390
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   391
/*****************************************************************************/
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   392
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   393
#ifdef EC_EOE
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   394
/** Clear and free all EoE handlers.
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   395
 */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   396
void ec_master_clear_eoe_handlers(
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   397
        ec_master_t *master /**< EtherCAT master */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   398
        )
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   399
{
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   400
    ec_eoe_t *eoe, *next;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   401
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   402
    list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   403
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   404
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   405
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   406
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   407
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   408
#endif
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   409
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   410
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   411
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   412
/** Clear all slave configurations.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   413
 */
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   414
void ec_master_clear_slave_configs(ec_master_t *master)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   415
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   416
    ec_slave_config_t *sc, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   417
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   418
    master->dc_ref_config = NULL;
2457
30a6df891e7d Mark processing SDO request as invalid if config is cleared.
Florian Pose <fp@igh-essen.com>
parents: 2456
diff changeset
   419
    master->fsm.sdo_request = NULL; // mark sdo_request as invalid
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   420
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   421
    list_for_each_entry_safe(sc, next, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   422
        list_del(&sc->list);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   423
        ec_slave_config_clear(sc);
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   424
        kfree(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   425
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   426
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   427
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   428
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   429
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   430
/** Clear all slaves.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   431
 */
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   432
void ec_master_clear_slaves(ec_master_t *master)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   433
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   434
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   435
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   436
    master->dc_ref_clock = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   437
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
   438
    // External requests are obsolete, so we wake pending waiters and remove
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
   439
    // them from the list.
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   440
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   441
    while (!list_empty(&master->sii_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   442
        ec_sii_write_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   443
            list_entry(master->sii_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   444
                    ec_sii_write_request_t, list);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   445
        list_del_init(&request->list); // dequeue
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   446
        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   447
                " to be deleted.\n", request->slave->ring_position);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   448
        request->state = EC_INT_REQUEST_FAILURE;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
   449
        wake_up(&master->request_queue);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   450
    }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   451
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   452
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   453
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   454
            slave++) {
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   455
        ec_slave_clear(slave);
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   456
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   457
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   458
    if (master->slaves) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   459
        kfree(master->slaves);
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   460
        master->slaves = NULL;
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   461
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   462
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   463
    master->slave_count = 0;
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   464
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   465
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   466
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   467
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   468
/** Clear all domains.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   469
 */
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   470
void ec_master_clear_domains(ec_master_t *master)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   471
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   472
    ec_domain_t *domain, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   473
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   474
    list_for_each_entry_safe(domain, next, &master->domains, list) {
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   475
        list_del(&domain->list);
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   476
        ec_domain_clear(domain);
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   477
        kfree(domain);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   478
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   479
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   480
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   481
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   482
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   483
/** Clear the configuration applied by the application.
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   484
 */
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   485
void ec_master_clear_config(
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   486
        ec_master_t *master /**< EtherCAT master. */
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   487
        )
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   488
{
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   489
    down(&master->master_sem);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   490
    ec_master_clear_domains(master);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   491
    ec_master_clear_slave_configs(master);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   492
    up(&master->master_sem);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   493
}
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   494
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   495
/*****************************************************************************/
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   496
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   497
/** Internal sending callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   498
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   499
void ec_master_internal_send_cb(
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   500
        void *cb_data /**< Callback data. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   501
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   502
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   503
    ec_master_t *master = (ec_master_t *) cb_data;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   504
    down(&master->io_sem);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   505
    ecrt_master_send_ext(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   506
    up(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   507
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   508
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   509
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   510
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   511
/** Internal receiving callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   512
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   513
void ec_master_internal_receive_cb(
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   514
        void *cb_data /**< Callback data. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   515
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   516
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   517
    ec_master_t *master = (ec_master_t *) cb_data;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   518
    down(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   519
    ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   520
    up(&master->io_sem);
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   521
}
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   522
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   523
/*****************************************************************************/
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   524
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   525
/** Starts the master thread.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   526
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   527
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   528
 * \retval <0 Error code.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   529
 */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   530
int ec_master_thread_start(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   531
        ec_master_t *master, /**< EtherCAT master */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   532
        int (*thread_func)(void *), /**< thread function to start */
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   533
        const char *name /**< Thread name. */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   534
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   535
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   536
    EC_MASTER_INFO(master, "Starting %s thread.\n", name);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   537
    master->thread = kthread_run(thread_func, master, name);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   538
    if (IS_ERR(master->thread)) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   539
        int err = (int) PTR_ERR(master->thread);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   540
        EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   541
                err);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   542
        master->thread = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   543
        return err;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   544
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   545
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   546
    return 0;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   547
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   548
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   549
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   550
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   551
/** Stops the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   552
 */
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   553
void ec_master_thread_stop(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   554
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   555
        )
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   556
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   557
    unsigned long sleep_jiffies;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   558
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   559
    if (!master->thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   560
        EC_MASTER_WARN(master, "%s(): Already finished!\n", __func__);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   561
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   562
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   563
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   564
    EC_MASTER_DBG(master, 1, "Stopping master thread.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   565
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   566
    kthread_stop(master->thread);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   567
    master->thread = NULL;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   568
    EC_MASTER_INFO(master, "Master thread exited.\n");
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   569
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   570
    if (master->fsm_datagram.state != EC_DATAGRAM_SENT) {
1198
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   571
        return;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   572
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   573
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   574
    // wait for FSM datagram
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   575
    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   576
    schedule_timeout(sleep_jiffies);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   577
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   578
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   579
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   580
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   581
/** Transition function from ORPHANED to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   582
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   583
int ec_master_enter_idle_phase(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   584
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   585
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   586
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   587
    int ret;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   588
    ec_device_index_t dev_idx;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   589
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   590
    EC_MASTER_DBG(master, 1, "ORPHANED -> IDLE.\n");
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   591
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   592
    master->send_cb = ec_master_internal_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   593
    master->receive_cb = ec_master_internal_receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   594
    master->cb_data = master;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   595
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   596
    master->phase = EC_IDLE;
2301
01e4381ebd09 Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2300
diff changeset
   597
01e4381ebd09 Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2300
diff changeset
   598
    // reset number of responding slaves to trigger scanning
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   599
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   600
            dev_idx++) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   601
        master->fsm.slaves_responding[dev_idx] = 0;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   602
    }
2301
01e4381ebd09 Improved resetting number of responding slaves.
Florian Pose <fp@igh-essen.com>
parents: 2300
diff changeset
   603
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   604
    ret = ec_master_thread_start(master, ec_master_idle_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   605
            "EtherCAT-IDLE");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   606
    if (ret)
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   607
        master->phase = EC_ORPHANED;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   608
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   609
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   610
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   611
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   612
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   613
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   614
/** Transition function from IDLE to ORPHANED phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   615
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   616
void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   617
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   618
    EC_MASTER_DBG(master, 1, "IDLE -> ORPHANED.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   619
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   620
    master->phase = EC_ORPHANED;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   621
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   622
#ifdef EC_EOE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   623
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   624
#endif
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   625
    ec_master_thread_stop(master);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   626
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   627
    down(&master->master_sem);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   628
    ec_master_clear_slaves(master);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   629
    up(&master->master_sem);
2456
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2455
diff changeset
   630
a9bbc44584e0 Reset master state machine when going to orphaned phase.
Florian Pose <fp@igh-essen.com>
parents: 2455
diff changeset
   631
    ec_fsm_master_reset(&master->fsm);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   632
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   633
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   634
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   635
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   636
/** Transition function from IDLE to OPERATION phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   637
 */
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   638
int ec_master_enter_operation_phase(
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   639
        ec_master_t *master /**< EtherCAT master */
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   640
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   641
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   642
    int ret = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   643
    ec_slave_t *slave;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   644
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   645
    ec_eoe_t *eoe;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   646
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   647
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   648
    EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   649
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   650
    down(&master->config_sem);
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   651
    if (master->config_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   652
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   653
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   654
        // wait for slave configuration to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   655
        ret = wait_event_interruptible(master->config_queue,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   656
                    !master->config_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   657
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   658
            EC_MASTER_INFO(master, "Finishing slave configuration"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   659
                    " interrupted by signal.\n");
2349
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
   660
            goto out_return;
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   661
        }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   662
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   663
        EC_MASTER_DBG(master, 1, "Waiting for pending slave"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   664
                " configuration returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   665
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   666
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   667
    }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   668
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   669
    down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   670
    master->allow_scan = 0; // 'lock' the slave list
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   671
    if (!master->scan_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   672
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   673
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   674
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   675
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   676
        // wait for slave scan to complete
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   677
        ret = wait_event_interruptible(master->scan_queue,
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   678
                !master->scan_busy);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   679
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   680
            EC_MASTER_INFO(master, "Waiting for slave scan"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   681
                    " interrupted by signal.\n");
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   682
            goto out_allow;
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   683
        }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   684
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   685
        EC_MASTER_DBG(master, 1, "Waiting for pending"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   686
                " slave scan returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   687
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   688
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   689
    // set states for all slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   690
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   691
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   692
            slave++) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   693
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   694
    }
1451
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
   695
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   696
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   697
    // ... but set EoE slaves to OP
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   698
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   699
        if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   700
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   701
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   702
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   703
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   704
    master->phase = EC_OPERATION;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   705
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   706
    master->app_receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   707
    master->app_cb_data = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   708
    return ret;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   709
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   710
out_allow:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   711
    master->allow_scan = 1;
2349
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
   712
out_return:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   713
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   714
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   715
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   716
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   717
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   718
/** Transition function from OPERATION to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   719
 */
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   720
void ec_master_leave_operation_phase(
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   721
        ec_master_t *master /**< EtherCAT master */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   722
        )
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   723
{
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   724
    if (master->active) {
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   725
        ecrt_master_deactivate(master); // also clears config
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   726
    } else {
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   727
        ec_master_clear_config(master);
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
   728
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   729
2349
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
   730
    /* Re-allow scanning for IDLE phase. */
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
   731
    master->allow_scan = 1;
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
   732
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   733
    EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   734
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   735
    master->phase = EC_IDLE;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   736
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   737
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   738
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   739
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   740
/** Injects external datagrams that fit into the datagram queue.
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   741
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   742
void ec_master_inject_external_datagrams(
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   743
        ec_master_t *master /**< EtherCAT master */
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   744
        )
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   745
{
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   746
    ec_datagram_t *datagram, *n;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   747
    size_t queue_size = 0;
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   748
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   749
    list_for_each_entry(datagram, &master->datagram_queue, queue) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   750
        queue_size += datagram->data_size;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   751
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   752
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   753
    list_for_each_entry_safe(datagram, n, &master->external_datagram_queue,
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   754
            queue) {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   755
        queue_size += datagram->data_size;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   756
        if (queue_size <= master->max_queue_size) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   757
            list_del_init(&datagram->queue);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   758
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   759
            EC_MASTER_DBG(master, 0, "Injecting external datagram %08x"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   760
                    " size=%u, queue_size=%u\n", (unsigned int) datagram,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   761
                    datagram->data_size, queue_size);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   762
#endif
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   763
#ifdef EC_HAVE_CYCLES
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   764
            datagram->cycles_sent = 0;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   765
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   766
            datagram->jiffies_sent = 0;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   767
            ec_master_queue_datagram(master, datagram);
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   768
        } else {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   769
            if (datagram->data_size > master->max_queue_size) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   770
                list_del_init(&datagram->queue);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   771
                datagram->state = EC_DATAGRAM_ERROR;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   772
                EC_MASTER_ERR(master, "External datagram %p is too large,"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   773
                        " size=%zu, max_queue_size=%zu\n",
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   774
                        datagram, datagram->data_size,
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   775
                        master->max_queue_size);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   776
            } else {
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   777
#ifdef EC_HAVE_CYCLES
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   778
                cycles_t cycles_now = get_cycles();
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   779
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   780
                if (cycles_now - datagram->cycles_sent
1906
96805a6eae3d Renamed sdo_injecton_timeout to ext_injection_timeout.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   781
                        > ext_injection_timeout_cycles)
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   782
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   783
                if (jiffies - datagram->jiffies_sent
1906
96805a6eae3d Renamed sdo_injecton_timeout to ext_injection_timeout.
Florian Pose <fp@igh-essen.com>
parents: 1873
diff changeset
   784
                        > ext_injection_timeout_jiffies)
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   785
#endif
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   786
                {
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   787
                    unsigned int time_us;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   788
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   789
                    list_del_init(&datagram->queue);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   790
                    datagram->state = EC_DATAGRAM_ERROR;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   791
#ifdef EC_HAVE_CYCLES
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   792
                    time_us = (unsigned int)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   793
                        ((cycles_now - datagram->cycles_sent) * 1000LL)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   794
                        / cpu_khz;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   795
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   796
                    time_us = (unsigned int)
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   797
                        ((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   798
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   799
                    EC_MASTER_ERR(master, "Timeout %u us: Injecting"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   800
                            " external datagram %p size=%zu,"
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   801
                            " max_queue_size=%zu\n", time_us, datagram,
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   802
                            datagram->data_size, master->max_queue_size);
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   803
                }
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   804
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   805
                else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   806
                    EC_MASTER_DBG(master, 0, "Deferred injecting"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   807
                            " of external datagram %p"
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   808
                            " size=%u, queue_size=%u\n",
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   809
                            datagram, datagram->data_size, queue_size);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   810
                }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   811
#endif
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   812
            }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   813
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   814
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   815
}
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   816
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   817
/*****************************************************************************/
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   818
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   819
/** Sets the expected interval between calls to ecrt_master_send
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   820
 * and calculates the maximum amount of data to queue.
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   821
 */
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   822
void ec_master_set_send_interval(
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   823
        ec_master_t *master, /**< EtherCAT master */
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
   824
        unsigned int send_interval /**< Send interval */
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   825
        )
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   826
{
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   827
    master->send_interval = send_interval;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   828
    master->max_queue_size =
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   829
        (send_interval * 1000) / EC_BYTE_TRANSMISSION_TIME_NS;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   830
    master->max_queue_size -= master->max_queue_size / 10;
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   831
}
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   832
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   833
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   834
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   835
/** Places an external datagram in the sdo datagram queue.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   836
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   837
void ec_master_queue_external_datagram(
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   838
        ec_master_t *master, /**< EtherCAT master */
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   839
        ec_datagram_t *datagram /**< datagram */
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   840
        )
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   841
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   842
    ec_datagram_t *queued_datagram;
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
   843
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
   844
    down(&master->io_sem);
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   845
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   846
    // check, if the datagram is already queued
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   847
    list_for_each_entry(queued_datagram, &master->external_datagram_queue,
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   848
            queue) {
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   849
        if (queued_datagram == datagram) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   850
            datagram->state = EC_DATAGRAM_QUEUED;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   851
            return;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   852
        }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   853
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   854
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   855
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   856
    EC_MASTER_DBG(master, 0, "Requesting external datagram %p size=%u\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   857
            datagram, datagram->data_size);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   858
#endif
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   859
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   860
    list_add_tail(&datagram->queue, &master->external_datagram_queue);
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   861
    datagram->state = EC_DATAGRAM_QUEUED;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   862
#ifdef EC_HAVE_CYCLES
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   863
    datagram->cycles_sent = get_cycles();
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   864
#endif
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   865
    datagram->jiffies_sent = jiffies;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   866
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   867
    master->fsm.idle = 0;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   868
    up(&master->io_sem);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   869
}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   870
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   871
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   872
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   873
/** Places a datagram in the datagram queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   874
 */
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   875
void ec_master_queue_datagram(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   876
        ec_master_t *master, /**< EtherCAT master */
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
   877
        ec_datagram_t *datagram /**< datagram */
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   878
        )
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   879
{
2085
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   880
    ec_datagram_t *queued_datagram;
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   881
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   882
    /* It is possible, that a datagram in the queue is re-initialized with the
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   883
     * ec_datagram_<type>() methods and then shall be queued with this method.
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   884
     * In that case, the state is already reset to EC_DATAGRAM_INIT. Check if
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   885
     * the datagram is queued to avoid duplicate queuing (which results in an
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   886
     * infinite loop!). Set the state to EC_DATAGRAM_QUEUED again, probably
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   887
     * causing an unmatched datagram. */
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   888
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   889
        if (queued_datagram == datagram) {
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   890
            datagram->skip_count++;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2441
diff changeset
   891
            EC_MASTER_DBG(master, 1,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2441
diff changeset
   892
                    "Datagram %p already queued (skipping).\n", datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   893
            datagram->state = EC_DATAGRAM_QUEUED;
2085
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   894
            return;
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   895
        }
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   896
    }
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   897
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   898
    list_add_tail(&datagram->queue, &master->datagram_queue);
23ffec5c9c5b Fixed bug in ec_master_queue_datagram() introduced in c9d32805d984.
Florian Pose <fp@igh-essen.com>
parents: 2082
diff changeset
   899
    datagram->state = EC_DATAGRAM_QUEUED;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   900
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   901
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   902
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   903
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   904
/** Places a datagram in the non-application datagram queue.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   905
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   906
void ec_master_queue_datagram_ext(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   907
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   908
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   909
        )
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   910
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   911
    down(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   912
    list_add_tail(&datagram->queue, &master->ext_datagram_queue);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   913
    up(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   914
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   915
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   916
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   917
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   918
/** Sends the datagrams in the queue for a certain device.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   919
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   920
 */
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   921
void ec_master_send_datagrams(
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   922
        ec_master_t *master, /**< EtherCAT master */
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   923
        ec_device_index_t device_index /**< Device index. */
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   924
        )
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   925
{
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   926
    ec_datagram_t *datagram, *next;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   927
    size_t datagram_size;
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   928
    uint8_t *frame_data, *cur_data = NULL;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   929
    void *follows_word;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   930
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   931
    cycles_t cycles_start, cycles_sent, cycles_end;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   932
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   933
    unsigned long jiffies_sent;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   934
    unsigned int frame_count, more_datagrams_waiting;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   935
    struct list_head sent_datagrams;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   936
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   937
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   938
    cycles_start = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   939
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   940
    frame_count = 0;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   941
    INIT_LIST_HEAD(&sent_datagrams);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   942
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   943
    EC_MASTER_DBG(master, 2, "%s(device_index = %u)\n",
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   944
            __func__, device_index);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   945
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   946
    do {
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   947
        frame_data = NULL;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   948
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   949
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   950
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   951
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   952
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   953
            if (datagram->state != EC_DATAGRAM_QUEUED ||
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   954
                    datagram->device_index != device_index) {
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   955
                continue;
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   956
            }
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   957
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   958
            if (!frame_data) {
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   959
                // fetch pointer to transmit socket buffer
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   960
                frame_data =
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   961
                    ec_device_tx_data(&master->devices[device_index]);
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   962
                cur_data = frame_data + EC_FRAME_HEADER_SIZE;
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   963
            }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   964
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   965
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   966
            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   967
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   968
            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   969
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   970
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   971
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   972
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   973
            list_add_tail(&datagram->sent, &sent_datagrams);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   974
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   975
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   976
            EC_MASTER_DBG(master, 2, "Adding datagram 0x%02X\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   977
                    datagram->index);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   978
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   979
            // set "datagram following" flag in previous datagram
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   980
            if (follows_word) {
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   981
                EC_WRITE_U16(follows_word,
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
   982
                        EC_READ_U16(follows_word) | 0x8000);
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   983
            }
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   984
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   985
            // EtherCAT datagram header
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
   986
            EC_WRITE_U8 (cur_data, datagram->type);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   987
            EC_WRITE_U8 (cur_data + 1, datagram->index);
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 697
diff changeset
   988
            memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   989
            EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   990
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   991
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   992
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   993
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   994
            // EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   995
            memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   996
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   997
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   998
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   999
            EC_WRITE_U16(cur_data, 0x0000); // reset working counter
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1000
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1001
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1002
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1003
        if (list_empty(&sent_datagrams)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1004
            EC_MASTER_DBG(master, 2, "nothing to send.\n");
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1005
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1006
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1007
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1008
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1009
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1010
                        - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1011
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1012
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
  1013
        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1014
            EC_WRITE_U8(cur_data++, 0x00);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1015
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1016
        EC_MASTER_DBG(master, 2, "frame size: %zu\n", cur_data - frame_data);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1017
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1018
        // send frame
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
  1019
        ec_device_send(&master->devices[device_index],
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1020
                cur_data - frame_data);
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1021
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1022
        cycles_sent = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1023
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1024
        jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1025
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1026
        // set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1027
        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1028
            datagram->state = EC_DATAGRAM_SENT;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1029
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1030
            datagram->cycles_sent = cycles_sent;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1031
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1032
            datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1033
            list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1034
        }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
  1035
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1036
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1037
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1038
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1039
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1040
#ifdef EC_HAVE_CYCLES
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
  1041
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1042
        cycles_end = get_cycles();
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
  1043
        EC_MASTER_DBG(master, 0, "%s()"
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
  1044
                " sent %u frames in %uus.\n", __func__, frame_count,
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1045
               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1046
    }
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1047
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1048
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1049
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1050
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
  1051
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1052
/** Processes a received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1053
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1054
 * This function is called by the network driver for every received frame.
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1055
 *
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1056
 * \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1057
 */
331
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
  1058
void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
  1059
                                 const uint8_t *frame_data, /**< frame data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
  1060
                                 size_t size /**< size of the received data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
  1061
                                 )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1062
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1063
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1064
    uint8_t datagram_type, datagram_index;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1065
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1066
    const uint8_t *cur_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1067
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1068
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1069
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1070
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1071
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1072
                    " (size %zu < %u byte):\n",
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1073
                    size, EC_FRAME_HEADER_SIZE);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1074
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1075
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1076
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1077
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1078
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1079
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1080
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1081
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1082
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1083
    // check length of entire frame
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1084
    frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1085
    cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1086
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1087
    if (unlikely(frame_size > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1088
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1089
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1090
                    " (invalid frame size %zu for "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1091
                    "received size %zu):\n", frame_size, size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1092
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1093
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1094
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1095
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1096
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1097
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1098
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1099
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1100
    while (cmd_follows) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1101
        // process datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1102
        datagram_type  = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1103
        datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1104
        data_size      = EC_READ_U16(cur_data + 6) & 0x07FF;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1105
        cmd_follows    = EC_READ_U16(cur_data + 6) & 0x8000;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1106
        cur_data += EC_DATAGRAM_HEADER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1107
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1108
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1109
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1110
            if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1111
                EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1112
                        " (invalid data size %zu):\n", data_size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1113
                ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1114
            }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1115
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1116
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1117
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1118
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1119
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1120
        // search for matching datagram in the queue
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1121
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1122
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
690
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
  1123
            if (datagram->index == datagram_index
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
  1124
                && datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1125
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1126
                && datagram->data_size == data_size) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1127
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1128
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1129
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1130
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1131
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1132
        // no matching datagram was found
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1133
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1134
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1135
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1136
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1137
            if (unlikely(master->debug_level > 0)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1138
                EC_MASTER_DBG(master, 0, "UNMATCHED datagram:\n");
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1139
                ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1140
                        EC_DATAGRAM_HEADER_SIZE + data_size
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1141
                        + EC_DATAGRAM_FOOTER_SIZE);
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1142
#ifdef EC_DEBUG_RING
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1143
                ec_device_debug_ring_print(&master->devices[EC_DEVICE_MAIN]);
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1144
#endif
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1145
            }
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1146
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1147
            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1148
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1149
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1150
2114
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1151
        if (datagram->type != EC_DATAGRAM_APWR &&
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1152
                datagram->type != EC_DATAGRAM_FPWR &&
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1153
                datagram->type != EC_DATAGRAM_BWR &&
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1154
                datagram->type != EC_DATAGRAM_LWR) {
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1155
            // copy received data into the datagram memory,
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1156
            // if something has been read
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1157
            memcpy(datagram->data, cur_data, data_size);
b91bb9b96823 Don not copy frame data to datagram memory, if datagram type is write-only.
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
  1158
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1159
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1160
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1161
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1162
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1163
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1164
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1165
        // dequeue the received datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1166
        datagram->state = EC_DATAGRAM_RECEIVED;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1167
#ifdef EC_HAVE_CYCLES
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1168
        datagram->cycles_received =
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1169
            master->devices[EC_DEVICE_MAIN].cycles_poll;
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1170
#endif
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1171
        datagram->jiffies_received =
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1172
            master->devices[EC_DEVICE_MAIN].jiffies_poll;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1173
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1174
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1175
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1176
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1177
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1178
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1179
/** Output master statistics.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1180
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1181
 * This function outputs statistical data on demand, but not more often than
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1182
 * necessary. The output happens at most once a second.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1183
 */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1184
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1185
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1186
    if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1187
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1188
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1189
        if (master->stats.timeouts) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1190
            EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1191
                    master->stats.timeouts,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1192
                    master->stats.timeouts == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1193
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1194
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1195
        if (master->stats.corrupted) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1196
            EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1197
                    master->stats.corrupted,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1198
                    master->stats.corrupted == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1199
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1200
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1201
        if (master->stats.unmatched) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1202
            EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1203
                    master->stats.unmatched,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1204
                    master->stats.unmatched == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1205
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1206
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1207
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1208
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1209
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1210
/*****************************************************************************/
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1211
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1212
/** Clears the common device statistics.
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1213
 */
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1214
void ec_master_clear_device_stats(
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1215
        ec_master_t *master /**< EtherCAT master */
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1216
        )
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1217
{
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1218
    unsigned int i;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1219
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1220
    // zero frame statistics
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1221
    master->device_stats.tx_count = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1222
    master->device_stats.last_tx_count = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1223
    master->device_stats.rx_count = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1224
    master->device_stats.last_rx_count = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1225
    master->device_stats.tx_bytes = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1226
    master->device_stats.last_tx_bytes = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1227
    master->device_stats.rx_bytes = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1228
    master->device_stats.last_rx_bytes = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1229
    master->device_stats.last_loss = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1230
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1231
    for (i = 0; i < EC_RATE_COUNT; i++) {
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1232
        master->device_stats.tx_frame_rates[i] = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1233
        master->device_stats.tx_byte_rates[i] = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1234
        master->device_stats.loss_rates[i] = 0;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1235
    }
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1236
}
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1237
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1238
/*****************************************************************************/
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1239
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1240
/** Updates the common device statistics.
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1241
 */
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1242
void ec_master_update_device_stats(
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1243
        ec_master_t *master /**< EtherCAT master */
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1244
        )
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1245
{
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1246
    ec_device_stats_t *s = &master->device_stats;
2372
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1247
    s32 tx_frame_rate, rx_frame_rate, tx_byte_rate, rx_byte_rate, loss_rate;
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1248
    u64 loss;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1249
    unsigned int i, dev_idx;
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1250
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1251
    // frame statistics
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1252
    if (likely(jiffies - s->jiffies < HZ)) {
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1253
        return;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1254
    }
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1255
2372
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1256
    tx_frame_rate = (s->tx_count - s->last_tx_count) * 1000;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1257
    rx_frame_rate = (s->rx_count - s->last_rx_count) * 1000;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1258
    tx_byte_rate = s->tx_bytes - s->last_tx_bytes;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1259
    rx_byte_rate = s->rx_bytes - s->last_rx_bytes;
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1260
    loss = s->tx_count - s->rx_count;
2372
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1261
    loss_rate = (loss - s->last_loss) * 1000;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1262
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1263
    /* Low-pass filter:
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1264
     *      Y_n = y_(n - 1) + T / tau * (x - y_(n - 1))   | T = 1
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1265
     *   -> Y_n += (x - y_(n - 1)) / tau
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1266
     */
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1267
    for (i = 0; i < EC_RATE_COUNT; i++) {
2372
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1268
        s32 n = rate_intervals[i];
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1269
        s->tx_frame_rates[i] += (tx_frame_rate - s->tx_frame_rates[i]) / n;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1270
        s->rx_frame_rates[i] += (rx_frame_rate - s->rx_frame_rates[i]) / n;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1271
        s->tx_byte_rates[i] += (tx_byte_rate - s->tx_byte_rates[i]) / n;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1272
        s->rx_byte_rates[i] += (rx_byte_rate - s->rx_byte_rates[i]) / n;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1273
        s->loss_rates[i] += (loss_rate - s->loss_rates[i]) / n;
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1274
    }
d895cd1db2bf Improved/fixed frame statistics (low-pass filters).
Florian Pose <fp@igh-essen.com>
parents: 2371
diff changeset
  1275
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1276
    s->last_tx_count = s->tx_count;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1277
    s->last_rx_count = s->rx_count;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1278
    s->last_tx_bytes = s->tx_bytes;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1279
    s->last_rx_bytes = s->rx_bytes;
2371
a5052376202b Fixed frame loss statistics.
Florian Pose <fp@igh-essen.com>
parents: 2370
diff changeset
  1280
    s->last_loss = loss;
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1281
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1282
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1283
            dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1284
        ec_device_update_stats(&master->devices[dev_idx]);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1285
    }
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1286
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1287
    s->jiffies = jiffies;
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  1288
}
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1289
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1290
/*****************************************************************************/
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1291
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1292
#ifdef EC_USE_HRTIMER
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1293
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1294
/*
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1295
 * Sleep related functions:
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1296
 */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1297
static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1298
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1299
    struct hrtimer_sleeper *t =
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1300
        container_of(timer, struct hrtimer_sleeper, timer);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1301
    struct task_struct *task = t->task;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1302
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1303
    t->task = NULL;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1304
    if (task)
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1305
        wake_up_process(task);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1306
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1307
    return HRTIMER_NORESTART;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1308
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1309
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1310
/*****************************************************************************/
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1311
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1312
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1313
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1314
/* compatibility with new hrtimer interface */
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1315
static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer)
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1316
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1317
    return timer->expires;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1318
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1319
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1320
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1321
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1322
static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time)
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1323
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1324
    timer->expires = time;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1325
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1326
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1327
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1328
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1329
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1330
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1331
void ec_master_nanosleep(const unsigned long nsecs)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1332
{
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1333
    struct hrtimer_sleeper t;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1334
    enum hrtimer_mode mode = HRTIMER_MODE_REL;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1335
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1336
    hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1337
    t.timer.function = ec_master_nanosleep_wakeup;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1338
    t.task = current;
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1339
#ifdef CONFIG_HIGH_RES_TIMERS
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1340
#if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1341
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART;
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1342
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1343
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ;
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1344
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28)
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1345
    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1346
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1347
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1348
    hrtimer_set_expires(&t.timer, ktime_set(0, nsecs));
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1349
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1350
    do {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1351
        set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1352
        hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1353
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1354
        if (likely(t.task))
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1355
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1356
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1357
        hrtimer_cancel(&t.timer);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1358
        mode = HRTIMER_MODE_ABS;
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1359
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1360
    } while (t.task && !signal_pending(current));
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1361
}
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1362
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1363
#endif // EC_USE_HRTIMER
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1364
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1365
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1366
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1367
/** Master kernel thread function for IDLE phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1368
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1369
static int ec_master_idle_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1370
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1371
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1372
    ec_slave_t *slave = NULL;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1373
    int fsm_exec;
2336
dc82f7d09767 Avoided unused variable warnings.
Florian Pose <fp@igh-essen.com>
parents: 2305
diff changeset
  1374
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1375
    size_t sent_bytes;
2336
dc82f7d09767 Avoided unused variable warnings.
Florian Pose <fp@igh-essen.com>
parents: 2305
diff changeset
  1376
#endif
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1377
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1378
    // send interval in IDLE phase
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1379
    ec_master_set_send_interval(master, 1000000 / HZ);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1380
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1381
    EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1382
            " max data size=%zu\n", master->send_interval,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1383
            master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1384
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1385
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1386
        ec_datagram_output_stats(&master->fsm_datagram);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1387
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1388
        // receive
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1389
        down(&master->io_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1390
        ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1391
        up(&master->io_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1392
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1393
        fsm_exec = 0;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1394
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1395
        // execute master & slave state machines
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1396
        if (down_interruptible(&master->master_sem)) {
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1397
            break;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1398
        }
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1399
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1400
        fsm_exec = ec_fsm_master_exec(&master->fsm);
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1401
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1402
        for (slave = master->slaves;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1403
                slave < master->slaves + master->slave_count;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1404
                slave++) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1405
            ec_fsm_slave_exec(&slave->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1406
        }
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1407
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1408
        up(&master->master_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1409
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1410
        // queue and send
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1411
        down(&master->io_sem);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1412
        if (fsm_exec) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  1413
            ec_master_queue_datagram(master, &master->fsm_datagram);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1414
        }
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1415
        ecrt_master_send(master);
2336
dc82f7d09767 Avoided unused variable warnings.
Florian Pose <fp@igh-essen.com>
parents: 2305
diff changeset
  1416
#ifdef EC_USE_HRTIMER
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1417
        sent_bytes = master->devices[EC_DEVICE_MAIN].tx_skb[
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  1418
            master->devices[EC_DEVICE_MAIN].tx_ring_index]->len;
2336
dc82f7d09767 Avoided unused variable warnings.
Florian Pose <fp@igh-essen.com>
parents: 2305
diff changeset
  1419
#endif
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1420
        up(&master->io_sem);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1421
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1422
        if (ec_fsm_master_idle(&master->fsm)) {
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1423
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1424
            ec_master_nanosleep(master->send_interval * 1000);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1425
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1426
            set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1427
            schedule_timeout(1);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1428
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1429
        } else {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1430
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1431
            ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1432
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1433
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1434
#endif
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1435
        }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1436
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1437
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1438
    EC_MASTER_DBG(master, 1, "Master IDLE thread exiting...\n");
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1439
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1440
    return 0;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1441
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1442
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1443
/*****************************************************************************/
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1444
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1445
/** Master kernel thread function for OPERATION phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1446
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1447
static int ec_master_operation_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1448
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1449
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1450
    ec_slave_t *slave = NULL;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1451
    int fsm_exec;
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1452
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1453
    EC_MASTER_DBG(master, 1, "Operation thread running"
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1454
            " with fsm interval = %u us, max data size=%zu\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1455
            master->send_interval, master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1456
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1457
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1458
        ec_datagram_output_stats(&master->fsm_datagram);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1459
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1460
        if (master->injection_seq_rt == master->injection_seq_fsm) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1461
            // output statistics
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1462
            ec_master_output_stats(master);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1463
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1464
            fsm_exec = 0;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1465
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1466
            // execute master & slave state machines
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1467
            if (down_interruptible(&master->master_sem)) {
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1468
                break;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1469
            }
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1470
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1471
            fsm_exec += ec_fsm_master_exec(&master->fsm);
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1472
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1473
            for (slave = master->slaves;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1474
                    slave < master->slaves + master->slave_count;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1475
                    slave++) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1476
                ec_fsm_slave_exec(&slave->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1477
            }
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1478
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1479
            up(&master->master_sem);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1480
2082
775d1a02f204 Improved ecrt_master_queue_datagram(); detect skipped datagrams also when
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
  1481
            // inject datagrams (let the rt thread queue them, see
775d1a02f204 Improved ecrt_master_queue_datagram(); detect skipped datagrams also when
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
  1482
            // ecrt_master_send)
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1483
            if (fsm_exec) {
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1484
                master->injection_seq_fsm++;
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  1485
            }
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1486
        }
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1487
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1488
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1489
        // the op thread should not work faster than the sending RT thread
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1490
        ec_master_nanosleep(master->send_interval * 1000);
1773
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1491
#else
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1492
        if (ec_fsm_master_idle(&master->fsm)) {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1493
            set_current_state(TASK_INTERRUPTIBLE);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1494
            schedule_timeout(1);
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1495
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1496
        else {
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1497
            schedule();
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1498
        }
5371f3e5f6a1 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1499
#endif
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1500
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1501
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1502
    EC_MASTER_DBG(master, 1, "Master OP thread exiting...\n");
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1503
    return 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1504
}
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1505
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1506
/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1507
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1508
#ifdef EC_EOE
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1509
/** Starts Ethernet over EtherCAT processing on demand.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1510
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1511
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1512
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1513
    struct sched_param param = { .sched_priority = 0 };
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1514
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1515
    if (master->eoe_thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1516
        EC_MASTER_WARN(master, "EoE already running!\n");
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1517
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1518
    }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1519
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1520
    if (list_empty(&master->eoe_handlers))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1521
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1522
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1523
    if (!master->send_cb || !master->receive_cb) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1524
        EC_MASTER_WARN(master, "No EoE processing"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1525
                " because of missing callbacks!\n");
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1526
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1527
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1528
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1529
    EC_MASTER_INFO(master, "Starting EoE thread.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1530
    master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1531
            "EtherCAT-EoE");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1532
    if (IS_ERR(master->eoe_thread)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1533
        int err = (int) PTR_ERR(master->eoe_thread);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1534
        EC_MASTER_ERR(master, "Failed to start EoE thread (error %i)!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1535
                err);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1536
        master->eoe_thread = NULL;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1537
        return;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1538
    }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1539
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1540
    sched_setscheduler(master->eoe_thread, SCHED_NORMAL, &param);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1541
    set_user_nice(master->eoe_thread, 0);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1542
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1543
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1544
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1545
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1546
/** Stops the Ethernet over EtherCAT processing.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1547
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1548
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1549
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1550
    if (master->eoe_thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1551
        EC_MASTER_INFO(master, "Stopping EoE thread.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1552
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1553
        kthread_stop(master->eoe_thread);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1554
        master->eoe_thread = NULL;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1555
        EC_MASTER_INFO(master, "EoE thread exited.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1556
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1557
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1558
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1559
/*****************************************************************************/
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1560
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1561
/** Does the Ethernet over EtherCAT processing.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1562
 */
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1563
static int ec_master_eoe_thread(void *priv_data)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1564
{
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1565
    ec_master_t *master = (ec_master_t *) priv_data;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1566
    ec_eoe_t *eoe;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1567
    unsigned int none_open, sth_to_send, all_idle;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1568
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1569
    EC_MASTER_DBG(master, 1, "EoE thread running.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1570
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1571
    while (!kthread_should_stop()) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1572
        none_open = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1573
        all_idle = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1574
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1575
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1576
            if (ec_eoe_is_open(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1577
                none_open = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1578
                break;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1579
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1580
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1581
        if (none_open)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1582
            goto schedule;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1583
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1584
        // receive datagrams
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1585
        master->receive_cb(master->cb_data);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1586
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1587
        // actual EoE processing
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1588
        sth_to_send = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1589
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1590
            ec_eoe_run(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1591
            if (eoe->queue_datagram) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1592
                sth_to_send = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1593
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1594
            if (!ec_eoe_is_idle(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1595
                all_idle = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1596
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1597
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1598
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1599
        if (sth_to_send) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1600
            list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1601
                ec_eoe_queue(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1602
            }
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1603
            // (try to) send datagrams
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1604
            down(&master->ext_queue_sem);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1605
            master->send_cb(master->cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1606
            up(&master->ext_queue_sem);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1607
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1608
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1609
schedule:
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1610
        if (all_idle) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1611
            set_current_state(TASK_INTERRUPTIBLE);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1612
            schedule_timeout(1);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1613
        } else {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1614
            schedule();
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1615
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1616
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1617
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1618
    EC_MASTER_DBG(master, 1, "EoE thread exiting...\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1619
    return 0;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1620
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1621
#endif
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1622
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1623
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1624
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1625
/** Attaches the slave configurations to the slaves.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1626
 */
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1627
void ec_master_attach_slave_configs(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1628
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1629
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1630
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1631
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1632
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1633
    list_for_each_entry(sc, &master->configs, list) {
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1634
        ec_slave_config_attach(sc);
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1635
    }
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1636
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1637
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1638
/*****************************************************************************/
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1639
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1640
/** Common implementation for ec_master_find_slave()
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1641
 * and ec_master_find_slave_const().
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1642
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1643
#define EC_FIND_SLAVE \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1644
    do { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1645
        if (alias) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1646
            for (; slave < master->slaves + master->slave_count; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1647
                    slave++) { \
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1906
diff changeset
  1648
                if (slave->effective_alias == alias) \
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1649
                break; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1650
            } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1651
            if (slave == master->slaves + master->slave_count) \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1652
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1653
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1654
        \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1655
        slave += position; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1656
        if (slave < master->slaves + master->slave_count) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1657
            return slave; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1658
        } else { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1659
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1660
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1661
    } while (0)
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1662
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1663
/** Finds a slave in the bus, given the alias and position.
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1664
 */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1665
ec_slave_t *ec_master_find_slave(
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1666
        ec_master_t *master, /**< EtherCAT master. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1667
        uint16_t alias, /**< Slave alias. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1668
        uint16_t position /**< Slave position. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1669
        )
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1670
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
  1671
    ec_slave_t *slave = master->slaves;
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1672
    EC_FIND_SLAVE;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1673
}
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1674
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1675
/** Finds a slave in the bus, given the alias and position.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1676
 *
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1677
 * Const version.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1678
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1679
const ec_slave_t *ec_master_find_slave_const(
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1680
        const ec_master_t *master, /**< EtherCAT master. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1681
        uint16_t alias, /**< Slave alias. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1682
        uint16_t position /**< Slave position. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1683
        )
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1684
{
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1685
    const ec_slave_t *slave = master->slaves;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1686
    EC_FIND_SLAVE;
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1687
}
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1688
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1689
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1690
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1691
/** Get the number of slave configurations provided by the application.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1692
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1693
 * \return Number of configurations.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1694
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1695
unsigned int ec_master_config_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1696
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1697
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1698
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1699
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1700
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1701
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1702
    list_for_each_entry(sc, &master->configs, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1703
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1704
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1705
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1706
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1707
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1708
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1709
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1710
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1711
/** Common implementation for ec_master_get_config()
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1712
 * and ec_master_get_config_const().
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1713
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1714
#define EC_FIND_CONFIG \
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1715
    do { \
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1716
        list_for_each_entry(sc, &master->configs, list) { \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1717
            if (pos--) \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1718
                continue; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1719
            return sc; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1720
        } \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1721
        return NULL; \
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1722
    } while (0)
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1723
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1724
/** Get a slave configuration via its position in the list.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1725
 *
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1726
 * \return Slave configuration or \a NULL.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1727
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1728
ec_slave_config_t *ec_master_get_config(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1729
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1730
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1731
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1732
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1733
    ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1734
    EC_FIND_CONFIG;
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1735
}
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1736
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1737
/** Get a slave configuration via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1738
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1739
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1740
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1741
 * \return Slave configuration or \a NULL.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1742
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1743
const ec_slave_config_t *ec_master_get_config_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1744
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1745
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1746
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1747
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1748
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1749
    EC_FIND_CONFIG;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1750
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1751
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1752
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1753
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1754
/** Get the number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1755
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1756
 * \return Number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1757
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1758
unsigned int ec_master_domain_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1759
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1760
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1761
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1762
    const ec_domain_t *domain;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1763
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1764
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1765
    list_for_each_entry(domain, &master->domains, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1766
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1767
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1768
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1769
    return count;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1770
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1771
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1772
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1773
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1774
/** Common implementation for ec_master_find_domain() and
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1775
 * ec_master_find_domain_const().
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1776
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1777
#define EC_FIND_DOMAIN \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1778
    do { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1779
        list_for_each_entry(domain, &master->domains, list) { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1780
            if (index--) \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1781
                continue; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1782
            return domain; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1783
        } \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1784
        \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1785
        return NULL; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1786
    } while (0)
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1787
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1788
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1789
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1790
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1791
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1792
ec_domain_t *ec_master_find_domain(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1793
        ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1794
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1795
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1796
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1797
    ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1798
    EC_FIND_DOMAIN;
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1799
}
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1800
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1801
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1802
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1803
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1804
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1805
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1806
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1807
const ec_domain_t *ec_master_find_domain_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1808
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1809
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1810
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1811
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1812
    const ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1813
    EC_FIND_DOMAIN;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1814
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1815
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1816
/*****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1817
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1818
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1819
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1820
/** Get the number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1821
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1822
 * \return Number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1823
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1824
uint16_t ec_master_eoe_handler_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1825
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1826
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1827
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1828
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1829
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1830
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1831
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1832
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1833
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1834
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1835
    return count;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1836
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1837
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1838
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1839
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1840
/** Get an EoE handler via its position in the list.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1841
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1842
 * Const version.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1843
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1844
 * \return EoE handler pointer, or \a NULL if not found.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1845
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1846
const ec_eoe_t *ec_master_get_eoe_handler_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1847
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1848
        uint16_t index /**< EoE handler index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1849
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1850
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1851
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1852
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1853
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1854
        if (index--)
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1855
            continue;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1856
        return eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1857
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1858
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1859
    return NULL;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1860
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1861
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1862
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1863
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1864
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1865
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1866
/** Set the debug level.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1867
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1868
 * \retval       0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1869
 * \retval -EINVAL Invalid debug level.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1870
 */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1871
int ec_master_debug_level(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1872
        ec_master_t *master, /**< EtherCAT master. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1873
        unsigned int level /**< Debug level. May be 0, 1 or 2. */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1874
        )
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1875
{
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1876
    if (level > 2) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1877
        EC_MASTER_ERR(master, "Invalid debug level %u!\n", level);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1878
        return -EINVAL;
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1879
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1880
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1881
    if (level != master->debug_level) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1882
        master->debug_level = level;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1883
        EC_MASTER_INFO(master, "Master debug level set to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1884
                master->debug_level);
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1885
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1886
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1887
    return 0;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1888
}
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1889
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1890
/*****************************************************************************/
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1891
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1892
/** Finds the DC reference clock.
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1893
 */
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1894
void ec_master_find_dc_ref_clock(
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1895
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1896
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1897
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1898
    ec_slave_t *slave, *ref = NULL;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1899
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1900
    if (master->dc_ref_config) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1901
        // Use application-selected reference clock
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1902
        slave = master->dc_ref_config->slave;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1903
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1904
        if (slave) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1905
            if (slave->base_dc_supported && slave->has_dc_system_time) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1906
                ref = slave;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1907
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1908
            else {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1909
                EC_MASTER_WARN(master, "Slave %u can not act as a"
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1910
                        " DC reference clock!", slave->ring_position);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1911
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1912
        }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1913
        else {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1914
            EC_MASTER_WARN(master, "DC reference clock config (%u-%u)"
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1915
                    " has no slave attached!\n", master->dc_ref_config->alias,
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1916
                    master->dc_ref_config->position);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1917
        }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1918
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1919
    else {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1920
        // Use first slave with DC support as reference clock
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1921
        for (slave = master->slaves;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1922
                slave < master->slaves + master->slave_count;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1923
                slave++) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1924
            if (slave->base_dc_supported && slave->has_dc_system_time) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1925
                ref = slave;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1926
                break;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1927
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1928
        }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1929
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1930
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1931
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1932
    master->dc_ref_clock = ref;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  1933
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1934
    if (ref) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1935
        EC_MASTER_INFO(master, "Using slave %u as DC reference clock.\n",
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1936
                ref->ring_position);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1937
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1938
    else {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1939
        EC_MASTER_INFO(master, "No DC reference clock found.\n");
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1940
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1941
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1942
    // These calls always succeed, because the
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1943
    // datagrams have been pre-allocated.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1944
    ec_datagram_fpwr(&master->ref_sync_datagram,
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1945
            ref ? ref->station_address : 0xffff, 0x0910, 4);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1946
    ec_datagram_frmw(&master->sync_datagram,
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1947
            ref ? ref->station_address : 0xffff, 0x0910, 4);
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1948
}
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1949
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1950
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1951
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1952
/** Calculates the bus topology; recursion function.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1953
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1954
int ec_master_calc_topology_rec(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1955
        ec_master_t *master, /**< EtherCAT master. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1956
        ec_slave_t *port0_slave, /**< Slave at port 0. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1957
        unsigned int *slave_position /**< Slave position. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1958
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1959
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1960
    ec_slave_t *slave = master->slaves + *slave_position;
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1961
    unsigned int port_index;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1962
    int ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1963
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1964
    static const unsigned int next_table[EC_MAX_PORTS] = {
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1965
        3, 2, 0, 1
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1966
    };
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1967
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1968
    slave->ports[0].next_slave = port0_slave;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1969
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1970
    port_index = 3;
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1971
    while (port_index != 0) {
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1972
        if (!slave->ports[port_index].link.loop_closed) {
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1973
            *slave_position = *slave_position + 1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1974
            if (*slave_position < master->slave_count) {
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1975
                slave->ports[port_index].next_slave =
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1976
                    master->slaves + *slave_position;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1977
                ret = ec_master_calc_topology_rec(master,
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1978
                        slave, slave_position);
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1979
                if (ret) {
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1980
                    return ret;
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1981
                }
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1982
            } else {
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1983
                return -1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1984
            }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1985
        }
2360
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1986
622a7faa07df Added fix for ESC port order (DC delay calculation).
Florian Pose <fp@igh-essen.com>
parents: 2349
diff changeset
  1987
        port_index = next_table[port_index];
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1988
    }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1989
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1990
    return 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1991
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1992
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1993
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1994
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1995
/** Calculates the bus topology.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1996
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1997
void ec_master_calc_topology(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1998
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1999
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2000
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2001
    unsigned int slave_position = 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2002
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2003
    if (master->slave_count == 0)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2004
        return;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2005
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2006
    if (ec_master_calc_topology_rec(master, NULL, &slave_position))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2007
        EC_MASTER_ERR(master, "Failed to calculate bus topology.\n");
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2008
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  2009
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2010
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2011
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  2012
/** Calculates the bus transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  2013
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  2014
void ec_master_calc_transmission_delays(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2015
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2016
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2017
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2018
    ec_slave_t *slave;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2019
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2020
    for (slave = master->slaves;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2021
            slave < master->slaves + master->slave_count;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2022
            slave++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2023
        ec_slave_calc_port_delays(slave);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2024
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2025
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2026
    if (master->dc_ref_clock) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2027
        uint32_t delay = 0;
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  2028
        ec_slave_calc_transmission_delays_rec(master->dc_ref_clock, &delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2029
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2030
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2031
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2032
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2033
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2034
/** Distributed-clocks calculations.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2035
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2036
void ec_master_calc_dc(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2037
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2038
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2039
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2040
    // find DC reference clock
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2041
    ec_master_find_dc_ref_clock(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2042
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2043
    // calculate bus topology
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2044
    ec_master_calc_topology(master);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2045
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  2046
    ec_master_calc_transmission_delays(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2047
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  2048
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2049
/*****************************************************************************/
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2050
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2051
/** Request OP state for configured slaves.
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2052
 */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2053
void ec_master_request_op(
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2054
        ec_master_t *master /**< EtherCAT master. */
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2055
        )
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2056
{
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2057
    unsigned int i;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2058
    ec_slave_t *slave;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2059
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2060
    if (!master->active)
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2061
        return;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2062
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2063
    EC_MASTER_DBG(master, 1, "Requesting OP...\n");
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2064
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2065
    // request OP for all configured slaves
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2066
    for (i = 0; i < master->slave_count; i++) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2067
        slave = master->slaves + i;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2068
        if (slave->config) {
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2069
            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2070
        }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2071
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2072
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2073
    // always set DC reference clock to OP
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2074
    if (master->dc_ref_clock) {
2476
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2075
        ec_slave_request_state(master->dc_ref_clock, EC_SLAVE_STATE_OP);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2076
    }
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2077
}
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2078
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2079
/******************************************************************************
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2080
 *  Application interface
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2081
 *****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2082
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2083
/** Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2084
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2085
ec_domain_t *ecrt_master_create_domain_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2086
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2087
        )
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2088
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2089
    ec_domain_t *domain, *last_domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2090
    unsigned int index;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2091
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2092
    EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2093
            master);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2094
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2095
    if (!(domain =
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2096
                (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2097
        EC_MASTER_ERR(master, "Error allocating domain memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2098
        return ERR_PTR(-ENOMEM);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2099
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2100
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2101
    down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2102
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  2103
    if (list_empty(&master->domains)) {
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  2104
        index = 0;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  2105
    } else {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2106
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2107
        index = last_domain->index + 1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2108
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2109
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  2110
    ec_domain_init(domain, master, index);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2111
    list_add_tail(&domain->list, &master->domains);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2112
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2113
    up(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2114
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2115
    EC_MASTER_DBG(master, 1, "Created domain %u.\n", domain->index);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2116
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2117
    return domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2118
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2119
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2120
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2121
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2122
ec_domain_t *ecrt_master_create_domain(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2123
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2124
        )
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2125
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2126
    ec_domain_t *d = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2127
    return IS_ERR(d) ? NULL : d;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2128
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2129
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2130
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2131
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2132
int ecrt_master_activate(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2133
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2134
    uint32_t domain_offset;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2135
    ec_domain_t *domain;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2136
    int ret;
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2137
#ifdef EC_EOE
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2138
    int eoe_was_running;
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2139
#endif
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2140
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2141
    EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2142
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2143
    if (master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2144
        EC_MASTER_WARN(master, "%s: Master already active!\n", __func__);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2145
        return 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2146
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2147
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2148
    down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2149
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2150
    // finish all domains
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2151
    domain_offset = 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2152
    list_for_each_entry(domain, &master->domains, list) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2153
        ret = ec_domain_finish(domain, domain_offset);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2154
        if (ret < 0) {
1197
f65f9c36ba33 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  2155
            up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2156
            EC_MASTER_ERR(master, "Failed to finish domain 0x%p!\n", domain);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2157
            return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2158
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2159
        domain_offset += domain->data_size;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2160
    }
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  2161
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2162
    up(&master->master_sem);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2163
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2164
    // restart EoE process and master thread with new locking
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2165
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2166
    ec_master_thread_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  2167
#ifdef EC_EOE
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2168
    eoe_was_running = master->eoe_thread != NULL;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2169
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  2170
#endif
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2171
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2172
    EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2173
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2174
    master->injection_seq_fsm = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  2175
    master->injection_seq_rt = 0;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2176
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2177
    master->send_cb = master->app_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2178
    master->receive_cb = master->app_receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2179
    master->cb_data = master->app_cb_data;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  2180
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2181
#ifdef EC_EOE
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2182
    if (eoe_was_running) {
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2183
        ec_master_eoe_start(master);
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2184
    }
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2185
#endif
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2186
    ret = ec_master_thread_start(master, ec_master_operation_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2187
                "EtherCAT-OP");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2188
    if (ret < 0) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2189
        EC_MASTER_ERR(master, "Failed to start master thread!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2190
        return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2191
    }
902
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  2192
2349
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2193
    /* Allow scanning after a topology change. */
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2194
    master->allow_scan = 1;
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2195
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2196
    master->active = 1;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2197
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2198
    // notify state machine, that the configuration shall now be applied
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2199
    master->config_changed = 1;
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2200
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2201
    return 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2202
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2203
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2204
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2205
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2206
void ecrt_master_deactivate(ec_master_t *master)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2207
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2208
    ec_slave_t *slave;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2209
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2210
    ec_eoe_t *eoe;
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2211
    int eoe_was_running;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2212
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2213
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
  2214
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2215
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2216
    if (!master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2217
        EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2218
        return;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2219
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2220
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2221
    ec_master_thread_stop(master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2222
#ifdef EC_EOE
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2223
    eoe_was_running = master->eoe_thread != NULL;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2224
    ec_master_eoe_stop(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2225
#endif
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  2226
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2227
    master->send_cb = ec_master_internal_send_cb;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2228
    master->receive_cb = ec_master_internal_receive_cb;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2229
    master->cb_data = master;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
  2230
1939
1ba48f78a0a5 Fixed bug that caused the configuration not to be cleared when reserved but
Florian Pose <fp@igh-essen.com>
parents: 1930
diff changeset
  2231
    ec_master_clear_config(master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2232
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2233
    for (slave = master->slaves;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2234
            slave < master->slaves + master->slave_count;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2235
            slave++) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2236
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2237
        // set states for all slaves
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2238
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2239
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2240
        // mark for reconfiguration, because the master could have no
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2241
        // possibility for a reconfiguration between two sequential operation
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2242
        // phases.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2243
        slave->force_config = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2244
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2245
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2246
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2247
    // ... but leave EoE slaves in OP
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2248
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2249
        if (ec_eoe_is_open(eoe))
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2250
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2251
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2252
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2253
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2254
    master->app_time = 0ULL;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2255
    master->app_start_time = 0ULL;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2256
    master->has_app_time = 0;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2257
1914
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2258
#ifdef EC_EOE
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2259
    if (eoe_was_running) {
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2260
        ec_master_eoe_start(master);
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2261
    }
da7adbde2625 Fixed possible bug in EoE code: Only restart EoE process, when it was running
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2262
#endif
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2263
    if (ec_master_thread_start(master, ec_master_idle_thread,
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  2264
                "EtherCAT-IDLE")) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2265
        EC_MASTER_WARN(master, "Failed to restart master thread!\n");
2455
c6b1c8fd20f4 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  2266
    }
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2267
2349
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2268
    /* Disallow scanning to get into the same state like after a master
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2269
     * request (after ec_master_enter_operation_phase() is called). */
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2270
    master->allow_scan = 0;
2f5993d86ea5 Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.
Florian Pose <fp@igh-essen.com>
parents: 2340
diff changeset
  2271
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2272
    master->active = 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2273
}
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2274
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2275
/*****************************************************************************/
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2276
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2277
void ecrt_master_send(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2278
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2279
    ec_datagram_t *datagram, *n;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2280
    ec_device_index_t dev_idx;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2281
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2282
    if (master->injection_seq_rt != master->injection_seq_fsm) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2283
        // inject datagrams produced by master and slave FSMs
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2284
        ec_master_queue_datagram(master, &master->fsm_datagram);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2285
        master->injection_seq_rt = master->injection_seq_fsm;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2286
    }
2305
668bdb89879b Removed unnecessary call of ec_master_inject_external_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 2301
diff changeset
  2287
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  2288
    ec_master_inject_external_datagrams(master);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2289
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2290
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2291
            dev_idx++) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2292
        if (unlikely(!master->devices[dev_idx].link_state)) {
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2293
            // link is down, no datagram can be sent
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2294
            list_for_each_entry_safe(datagram, n,
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2295
                    &master->datagram_queue, queue) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2296
                if (datagram->device_index == dev_idx) {
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2297
                    datagram->state = EC_DATAGRAM_ERROR;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2298
                    list_del_init(&datagram->queue);
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2299
                }
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2300
            }
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2301
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2302
            if (!master->devices[dev_idx].dev) {
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2303
                continue;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2304
            }
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2305
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2306
            // query link state
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2307
            ec_device_poll(&master->devices[dev_idx]);
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2308
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2309
            // clear frame statistics
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2310
            ec_device_clear_stats(&master->devices[dev_idx]);
2370
18e1e8b30ff7 Fixed sending on backup link if main link is down.
Florian Pose <fp@igh-essen.com>
parents: 2360
diff changeset
  2311
            continue;
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2312
        }
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2313
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
  2314
        // send frames
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2315
        ec_master_send_datagrams(master, dev_idx);
2268
5e1d3c9430e0 Datagram device_index member.
Florian Pose <fp@igh-essen.com>
parents: 2267
diff changeset
  2316
    }
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2317
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2318
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2319
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2320
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2321
void ecrt_master_receive(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2322
{
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2323
    unsigned int dev_idx;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2324
    ec_datagram_t *datagram, *next;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2325
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2326
    // receive datagrams
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2327
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2328
            dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2329
        ec_device_poll(&master->devices[dev_idx]);
2157
8fa0571f9996 Poll both devices.
Florian Pose <fp@igh-essen.com>
parents: 2124
diff changeset
  2330
    }
2158
69f2b2702336 Adjusted frame statistics for the use with two devices.
Florian Pose <fp@igh-essen.com>
parents: 2157
diff changeset
  2331
    ec_master_update_device_stats(master);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2332
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2333
    // dequeue all datagrams that timed out
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2334
    list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2335
        if (datagram->state != EC_DATAGRAM_SENT) continue;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2336
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2337
#ifdef EC_HAVE_CYCLES
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2338
        if (master->devices[EC_DEVICE_MAIN].cycles_poll -
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2339
                datagram->cycles_sent > timeout_cycles) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2340
#else
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2341
        if (master->devices[EC_DEVICE_MAIN].jiffies_poll -
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2342
                datagram->jiffies_sent > timeout_jiffies) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2343
#endif
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2344
            list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2345
            datagram->state = EC_DATAGRAM_TIMED_OUT;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2346
            master->stats.timeouts++;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2347
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2348
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2349
            if (unlikely(master->debug_level > 0)) {
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2350
                unsigned int time_us;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2351
#ifdef EC_HAVE_CYCLES
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2352
                time_us = (unsigned int)
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2353
                    (master->devices[EC_DEVICE_MAIN].cycles_poll -
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2354
                        datagram->cycles_sent) * 1000 / cpu_khz;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2355
#else
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2356
                time_us = (unsigned int)
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2357
                    ((master->devices[EC_DEVICE_MAIN].jiffies_poll -
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2358
                            datagram->jiffies_sent) * 1000000 / HZ);
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2359
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2360
                EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2361
                        " index %02X waited %u us.\n",
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2362
                        datagram, datagram->index, time_us);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2363
            }
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2364
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2365
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2366
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2367
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2368
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2369
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2370
void ecrt_master_send_ext(ec_master_t *master)
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2371
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2372
    ec_datagram_t *datagram, *next;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2373
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2374
    list_for_each_entry_safe(datagram, next, &master->ext_datagram_queue,
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2375
            queue) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2376
        list_del(&datagram->queue);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2377
        ec_master_queue_datagram(master, datagram);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2378
    }
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2379
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2380
    ecrt_master_send(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2381
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2382
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2383
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2384
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2385
/** Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2386
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2387
ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *master,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2388
        uint16_t alias, uint16_t position, uint32_t vendor_id,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2389
        uint32_t product_code)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2390
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2391
    ec_slave_config_t *sc;
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2392
    unsigned int found = 0;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2393
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2394
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2395
    EC_MASTER_DBG(master, 1, "ecrt_master_slave_config(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2396
            " alias = %u, position = %u, vendor_id = 0x%08x,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2397
            " product_code = 0x%08x)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2398
            master, alias, position, vendor_id, product_code);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2399
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2400
    list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2401
        if (sc->alias == alias && sc->position == position) {
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2402
            found = 1;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2403
            break;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2404
        }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2405
    }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2406
1024
fef0b1953770 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1023
diff changeset
  2407
    if (found) { // config with same alias/position already existing
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2408
        if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2409
            EC_MASTER_ERR(master, "Slave type mismatch. Slave was"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2410
                    " configured as 0x%08X/0x%08X before. Now configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2411
                    " with 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2412
                    vendor_id, product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2413
            return ERR_PTR(-ENOENT);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2414
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2415
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2416
        EC_MASTER_DBG(master, 1, "Creating slave configuration for %u:%u,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2417
                " 0x%08X/0x%08X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2418
                alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2419
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2420
        if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2421
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2422
            EC_MASTER_ERR(master, "Failed to allocate memory"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2423
                    " for slave configuration.\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2424
            return ERR_PTR(-ENOMEM);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2425
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2426
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
  2427
        ec_slave_config_init(sc, master,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2428
                alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2429
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2430
        down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2431
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2432
        // try to find the addressed slave
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  2433
        ec_slave_config_attach(sc);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  2434
        ec_slave_config_load_default_sync_config(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2435
        list_add_tail(&sc->list, &master->configs);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2436
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  2437
        up(&master->master_sem);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2438
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2439
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2440
    return sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2441
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2442
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2443
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2444
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2445
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2446
        uint16_t alias, uint16_t position, uint32_t vendor_id,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2447
        uint32_t product_code)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2448
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2449
    ec_slave_config_t *sc = ecrt_master_slave_config_err(master, alias,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2450
            position, vendor_id, product_code);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2451
    return IS_ERR(sc) ? NULL : sc;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2452
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2453
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2454
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2455
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2456
int ecrt_master_select_reference_clock(ec_master_t *master,
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2457
        ec_slave_config_t *sc)
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2458
{
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2459
    if (sc) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2460
        ec_slave_t *slave = sc->slave;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2461
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2462
        // output an early warning
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2463
        if (slave &&
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2464
                (!slave->base_dc_supported || !slave->has_dc_system_time)) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2465
            EC_MASTER_WARN(master, "Slave %u can not act as"
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2466
                    " a reference clock!", slave->ring_position);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2467
        }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2468
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2469
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2470
    master->dc_ref_config = sc;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2471
    return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2472
}
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2473
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2474
/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2475
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2476
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2477
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2478
    EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2479
            " master_info = 0x%p)\n", master, master_info);
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2480
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2481
    master_info->slave_count = master->slave_count;
2267
2d36f36a433c Devices as array; lock all device modules with module_get().
Florian Pose <fp@igh-essen.com>
parents: 2158
diff changeset
  2482
    master_info->link_up = master->devices[EC_DEVICE_MAIN].link_state;
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2483
    master_info->scan_busy = master->scan_busy;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2484
    master_info->app_time = master->app_time;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2485
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2486
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2487
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2488
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2489
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2490
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2491
        ec_slave_info_t *slave_info)
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2492
{
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2493
    const ec_slave_t *slave;
2340
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2494
    unsigned int i;
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2495
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2496
    if (down_interruptible(&master->master_sem)) {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2497
        return -EINTR;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2498
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2499
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2500
    slave = ec_master_find_slave_const(master, 0, slave_position);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2501
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2502
    slave_info->position = slave->ring_position;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2503
    slave_info->vendor_id = slave->sii.vendor_id;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2504
    slave_info->product_code = slave->sii.product_code;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2505
    slave_info->revision_number = slave->sii.revision_number;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2506
    slave_info->serial_number = slave->sii.serial_number;
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1906
diff changeset
  2507
    slave_info->alias = slave->effective_alias;
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2508
    slave_info->current_on_ebus = slave->sii.current_on_ebus;
2340
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2509
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2510
    for (i = 0; i < EC_MAX_PORTS; i++) {
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2511
        slave_info->ports[i].desc = slave->ports[i].desc;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2512
        slave_info->ports[i].link.link_up = slave->ports[i].link.link_up;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2513
        slave_info->ports[i].link.loop_closed =
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2514
            slave->ports[i].link.loop_closed;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2515
        slave_info->ports[i].link.signal_detected =
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2516
            slave->ports[i].link.signal_detected;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2517
        slave_info->ports[i].receive_time = slave->ports[i].receive_time;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2518
        if (slave->ports[i].next_slave) {
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2519
            slave_info->ports[i].next_slave =
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2520
                slave->ports[i].next_slave->ring_position;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2521
        } else {
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2522
            slave_info->ports[i].next_slave = 0xffff;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2523
        }
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2524
        slave_info->ports[i].delay_to_next_dc =
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2525
            slave->ports[i].delay_to_next_dc;
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2526
    }
3f2a4f9ff786 Copy missing slave_info data in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 2336
diff changeset
  2527
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2528
    slave_info->al_state = slave->current_state;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2529
    slave_info->error_flag = slave->error_flag;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2530
    slave_info->sync_count = slave->sii.sync_count;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2531
    slave_info->sdo_count = ec_slave_sdo_count(slave);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2532
    if (slave->sii.name) {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2533
        strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2534
    } else {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2535
        slave_info->name[0] = 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2536
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2537
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2538
    up(&master->master_sem);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2539
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2540
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2541
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2542
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2543
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2544
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2545
void ecrt_master_callbacks(ec_master_t *master,
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2546
        void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2547
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2548
    EC_MASTER_DBG(master, 1, "ecrt_master_callbacks(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2549
            " send_cb = 0x%p, receive_cb = 0x%p, cb_data = 0x%p)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2550
            master, send_cb, receive_cb, cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2551
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2552
    master->app_send_cb = send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2553
    master->app_receive_cb = receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2554
    master->app_cb_data = cb_data;
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2555
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2556
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2557
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2558
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2559
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2560
{
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2561
    ec_device_index_t dev_idx;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2562
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2563
    state->slaves_responding = 0U;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2564
    state->al_states = 0;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2565
    state->link_up = 0U;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2566
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2567
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2568
            dev_idx++) {
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2569
        /* Announce sum of responding slaves on all links. */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2570
        state->slaves_responding += master->fsm.slaves_responding[dev_idx];
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2571
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2572
        /* Binary-or slave states of all links. */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2573
        state->al_states |= master->fsm.slave_states[dev_idx];
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2574
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2575
        /* Signal link up if at least one device has link. */
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2576
        state->link_up |= master->devices[dev_idx].link_state;
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2577
    }
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2578
}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2579
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2580
/*****************************************************************************/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2581
2380
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2582
int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2583
        ec_master_link_state_t *state)
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2584
{
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  2585
    if (dev_idx >= ec_master_num_devices(master)) {
2380
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2586
        return -EINVAL;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2587
    }
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2588
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2589
    state->slaves_responding = master->fsm.slaves_responding[dev_idx];
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2590
    state->al_states = master->fsm.slave_states[dev_idx];
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2591
    state->link_up = master->devices[dev_idx].link_state;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2592
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2593
    return 0;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2594
}
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2595
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2596
/*****************************************************************************/
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  2597
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2598
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2599
{
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2600
    master->app_time = app_time;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2601
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2602
    if (unlikely(!master->has_app_time)) {
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2603
        master->app_start_time = app_time;
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  2604
        master->has_app_time = 1;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2605
    }
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2606
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2607
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2608
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2609
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2610
int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2611
{
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2612
    if (!master->dc_ref_clock) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2613
        return -ENXIO;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2614
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2615
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2616
    if (master->sync_datagram.state != EC_DATAGRAM_RECEIVED) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2617
        return -EIO;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2618
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2619
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2620
    // Get returned datagram time, transmission delay removed.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2621
    *time = EC_READ_U32(master->sync_datagram.data) -
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2622
        master->dc_ref_clock->transmission_delay;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2623
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2624
    return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2625
}
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2626
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2627
/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2628
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2629
void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2630
{
2476
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2631
    if (master->dc_ref_clock) {
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2632
        EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2633
        ec_master_queue_datagram(master, &master->ref_sync_datagram);
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2634
    }
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2635
}
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2636
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2637
/*****************************************************************************/
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2638
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2639
void ecrt_master_sync_slave_clocks(ec_master_t *master)
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2640
{
2476
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2641
    if (master->dc_ref_clock) {
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2642
        ec_datagram_zero(&master->sync_datagram);
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2643
        ec_master_queue_datagram(master, &master->sync_datagram);
9a0d30056e70 Send sync datagrams only if reference clock is found.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2644
    }
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2645
}
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2646
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2647
/*****************************************************************************/
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2648
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2649
void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2650
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2651
    ec_datagram_zero(&master->sync_mon_datagram);
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2372
diff changeset
  2652
    ec_master_queue_datagram(master, &master->sync_mon_datagram);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2653
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2654
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2655
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2656
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2657
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2658
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2659
    if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2660
        return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2661
    } else {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2662
        return 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2663
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2664
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2665
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2666
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2667
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2668
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2669
        uint16_t index, uint8_t subindex, uint8_t *data,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2670
        size_t data_size, uint32_t *abort_code)
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2671
{
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2672
    ec_sdo_request_t request;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2673
    ec_slave_t *slave;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2674
    int ret;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2675
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2676
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2677
            " slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2678
            " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2679
            __func__, master, slave_position, index, subindex,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2680
            data, data_size, abort_code);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2681
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2682
    if (!data_size) {
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2683
        EC_MASTER_ERR(master, "Zero data size!\n");
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2684
        return -EINVAL;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2685
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2686
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2687
    ec_sdo_request_init(&request);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2688
    ecrt_sdo_request_index(&request, index, subindex);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2689
    ret = ec_sdo_request_alloc(&request, data_size);
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2690
    if (ret) {
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2691
        ec_sdo_request_clear(&request);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2692
        return ret;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2693
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2694
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2695
    memcpy(request.data, data, data_size);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2696
    request.data_size = data_size;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2697
    ecrt_sdo_request_write(&request);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2698
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2699
    if (down_interruptible(&master->master_sem)) {
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2700
        ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2701
        return -EINTR;
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2702
    }
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2703
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2704
    if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2705
        up(&master->master_sem);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2706
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2707
        ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2708
        return -EINVAL;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2709
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2710
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2711
    EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request.\n");
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2712
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2713
    // schedule request.
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2714
    list_add_tail(&request.list, &slave->sdo_requests);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2715
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2716
    up(&master->master_sem);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2717
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2718
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2719
    if (wait_event_interruptible(master->request_queue,
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2720
                request.state != EC_INT_REQUEST_QUEUED)) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2721
        // interrupted by signal
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2722
        down(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2723
        if (request.state == EC_INT_REQUEST_QUEUED) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2724
            list_del(&request.list);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2725
            up(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2726
            ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2727
            return -EINTR;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2728
        }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2729
        // request already processing: interrupt not possible.
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2730
        up(&master->master_sem);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2731
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2732
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2733
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2734
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2735
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2736
    *abort_code = request.abort_code;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2737
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2738
    if (request.state == EC_INT_REQUEST_SUCCESS) {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2739
        ret = 0;
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2740
    } else if (request.errno) {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2741
        ret = -request.errno;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2742
    } else {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2743
        ret = -EIO;
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2744
    }
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2745
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2746
    ec_sdo_request_clear(&request);
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2747
    return ret;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2748
}
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2749
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2750
/*****************************************************************************/
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2751
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2752
int ecrt_master_sdo_download_complete(ec_master_t *master,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2753
        uint16_t slave_position, uint16_t index, uint8_t *data,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2754
        size_t data_size, uint32_t *abort_code)
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2755
{
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2756
    ec_sdo_request_t request;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2757
    ec_slave_t *slave;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2758
    int ret;
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2759
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2760
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2761
            " slave_position = %u, index = 0x%04X,"
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2762
            " data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2763
            __func__, master, slave_position, index, data, data_size,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2764
            abort_code);
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2765
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2766
    if (!data_size) {
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2767
        EC_MASTER_ERR(master, "Zero data size!\n");
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2768
        return -EINVAL;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2769
    }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2770
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2771
    ec_sdo_request_init(&request);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2772
    ecrt_sdo_request_index(&request, index, 0);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2773
    ret = ec_sdo_request_alloc(&request, data_size);
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2774
    if (ret) {
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2775
        ec_sdo_request_clear(&request);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2776
        return ret;
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2777
    }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2778
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2779
    request.complete_access = 1;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2780
    memcpy(request.data, data, data_size);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2781
    request.data_size = data_size;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2782
    ecrt_sdo_request_write(&request);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2783
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2784
    if (down_interruptible(&master->master_sem)) {
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2785
        ec_sdo_request_clear(&request);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2786
        return -EINTR;
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2787
    }
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2788
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2789
    if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2790
        up(&master->master_sem);
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2791
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2792
        ec_sdo_request_clear(&request);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2793
        return -EINVAL;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2794
    }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2795
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2796
    EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request"
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2797
            " (complete access).\n");
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2798
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2799
    // schedule request.
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2800
    list_add_tail(&request.list, &slave->sdo_requests);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2801
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2802
    up(&master->master_sem);
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2803
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2804
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2805
    if (wait_event_interruptible(master->request_queue,
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2806
                request.state != EC_INT_REQUEST_QUEUED)) {
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2807
        // interrupted by signal
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2808
        down(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2809
        if (request.state == EC_INT_REQUEST_QUEUED) {
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2810
            list_del(&request.list);
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2811
            up(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2812
            ec_sdo_request_clear(&request);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2813
            return -EINTR;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2814
        }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2815
        // request already processing: interrupt not possible.
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2816
        up(&master->master_sem);
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2817
    }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2818
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2819
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2820
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2821
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2822
    *abort_code = request.abort_code;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2823
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2824
    if (request.state == EC_INT_REQUEST_SUCCESS) {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2825
        ret = 0;
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2826
    } else if (request.errno) {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2827
        ret = -request.errno;
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2828
    } else {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2829
        ret = -EIO;
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2830
    }
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2831
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2832
    ec_sdo_request_clear(&request);
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2833
    return ret;
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2834
}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2835
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2836
/*****************************************************************************/
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  2837
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2838
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2839
        uint16_t index, uint8_t subindex, uint8_t *target,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2840
        size_t target_size, size_t *result_size, uint32_t *abort_code)
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2841
{
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2842
    ec_sdo_request_t request;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2843
    ec_slave_t *slave;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2844
    int ret = 0;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2845
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2846
    EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2847
            " slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2848
            " target = 0x%p, target_size = %zu, result_size = 0x%p,"
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2849
            " abort_code = 0x%p)\n",
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2850
            __func__, master, slave_position, index, subindex,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2851
            target, target_size, result_size, abort_code);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2852
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2853
    ec_sdo_request_init(&request);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2854
    ecrt_sdo_request_index(&request, index, subindex);
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2855
    ecrt_sdo_request_read(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2856
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2857
    if (down_interruptible(&master->master_sem)) {
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2858
        ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2859
        return -EINTR;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2860
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2861
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2862
    if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2863
        up(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2864
        ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2865
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2866
        return -EINVAL;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2867
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2868
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2869
    EC_SLAVE_DBG(slave, 1, "Scheduling SDO upload request.\n");
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2870
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2871
    // schedule request.
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2872
    list_add_tail(&request.list, &slave->sdo_requests);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2873
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2874
    up(&master->master_sem);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2875
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2876
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2877
    if (wait_event_interruptible(master->request_queue,
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2878
                request.state != EC_INT_REQUEST_QUEUED)) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2879
        // interrupted by signal
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2880
        down(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2881
        if (request.state == EC_INT_REQUEST_QUEUED) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2882
            list_del(&request.list);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2883
            up(&master->master_sem);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2884
            ec_sdo_request_clear(&request);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2885
            return -EINTR;
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2886
        }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2887
        // request already processing: interrupt not possible.
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2888
        up(&master->master_sem);
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2889
    }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2890
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2891
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2892
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2893
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2894
    *abort_code = request.abort_code;
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2895
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2896
    if (request.state != EC_INT_REQUEST_SUCCESS) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2897
        *result_size = 0;
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2898
        if (request.errno) {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2899
            ret = -request.errno;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2900
        } else {
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2901
            ret = -EIO;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2902
        }
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2903
    } else {
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2904
        if (request.data_size > target_size) {
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2905
            EC_MASTER_ERR(master, "Buffer too small.\n");
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2906
            ret = -EOVERFLOW;
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2907
        }
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2908
        else {
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2909
            memcpy(target, request.data, request.data_size);
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2910
            *result_size = request.data_size;
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2911
            ret = 0;
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2912
        }
2461
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2913
    }
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2914
d2c48550acd0 Removed unnecessary ec_master_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 2460
diff changeset
  2915
    ec_sdo_request_clear(&request);
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2916
    return ret;
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2917
}
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2918
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2919
/*****************************************************************************/
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  2920
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2921
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2922
        uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2923
        uint16_t *error_code)
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2924
{
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2925
    ec_soe_request_t request;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2926
    ec_slave_t *slave;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2927
    int ret;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2928
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2929
    if (drive_no > 7) {
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2930
        EC_MASTER_ERR(master, "Invalid drive number!\n");
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2931
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2932
    }
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2933
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2934
    ec_soe_request_init(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2935
    ec_soe_request_set_drive_no(&request, drive_no);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2936
    ec_soe_request_set_idn(&request, idn);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2937
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2938
    ret = ec_soe_request_alloc(&request, data_size);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2939
    if (ret) {
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2940
        ec_soe_request_clear(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2941
        return ret;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2942
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2943
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2944
    memcpy(request.data, data, data_size);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2945
    request.data_size = data_size;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2946
    ec_soe_request_write(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2947
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2948
    if (down_interruptible(&master->master_sem)) {
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2949
        ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2950
        return -EINTR;
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2951
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2952
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2953
    if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2954
        up(&master->master_sem);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2955
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2956
                slave_position);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2957
        ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2958
        return -EINVAL;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2959
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2960
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2961
    EC_SLAVE_DBG(slave, 1, "Scheduling SoE write request.\n");
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2962
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2963
    // schedule SoE write request.
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2964
    list_add_tail(&request.list, &slave->soe_requests);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2965
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2966
    up(&master->master_sem);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2967
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2968
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2969
    if (wait_event_interruptible(master->request_queue,
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2970
                request.state != EC_INT_REQUEST_QUEUED)) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2971
        // interrupted by signal
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2972
        down(&master->master_sem);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2973
        if (request.state == EC_INT_REQUEST_QUEUED) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2974
            // abort request
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2975
            list_del(&request.list);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2976
            up(&master->master_sem);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2977
            ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2978
            return -EINTR;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2979
        }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2980
        up(&master->master_sem);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2981
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2982
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2983
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  2984
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2985
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2986
    if (error_code) {
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2987
        *error_code = request.error_code;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2988
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2989
    ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2990
    ec_soe_request_clear(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2991
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  2992
    return ret;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2993
}
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2994
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2995
/*****************************************************************************/
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2996
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2997
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  2998
        uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  2999
        size_t *result_size, uint16_t *error_code)
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3000
{
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3001
    ec_soe_request_t request;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3002
    ec_slave_t *slave;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3003
    int ret;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3004
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  3005
    if (drive_no > 7) {
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  3006
        EC_MASTER_ERR(master, "Invalid drive number!\n");
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  3007
        return -EINVAL;
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  3008
    }
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  3009
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3010
    ec_soe_request_init(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3011
    ec_soe_request_set_drive_no(&request, drive_no);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3012
    ec_soe_request_set_idn(&request, idn);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3013
    ec_soe_request_read(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3014
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3015
    if (down_interruptible(&master->master_sem)) {
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3016
        ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3017
        return -EINTR;
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3018
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3019
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3020
    if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3021
        up(&master->master_sem);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3022
        ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3023
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3024
        return -EINVAL;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3025
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3026
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  3027
    EC_SLAVE_DBG(slave, 1, "Scheduling SoE read request.\n");
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  3028
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3029
    // schedule request.
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3030
    list_add_tail(&request.list, &slave->soe_requests);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3031
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3032
    up(&master->master_sem);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3033
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3034
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  3035
    if (wait_event_interruptible(master->request_queue,
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3036
                request.state != EC_INT_REQUEST_QUEUED)) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3037
        // interrupted by signal
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3038
        down(&master->master_sem);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3039
        if (request.state == EC_INT_REQUEST_QUEUED) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3040
            list_del(&request.list);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3041
            up(&master->master_sem);
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3042
            ec_soe_request_clear(&request);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3043
            return -EINTR;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3044
        }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3045
        // request already processing: interrupt not possible.
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3046
        up(&master->master_sem);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3047
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3048
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3049
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2465
diff changeset
  3050
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3051
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3052
    if (error_code) {
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3053
        *error_code = request.error_code;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3054
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3055
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3056
    if (request.state != EC_INT_REQUEST_SUCCESS) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3057
        if (result_size) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3058
            *result_size = 0;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3059
        }
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3060
        ret = -EIO;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3061
    } else { // success
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3062
        if (request.data_size > target_size) {
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3063
            EC_MASTER_ERR(master, "Buffer too small.\n");
2465
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3064
            ret = -EOVERFLOW;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3065
        }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3066
        else { // data fits in buffer
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3067
            if (result_size) {
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3068
                *result_size = request.data_size;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3069
            }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3070
            memcpy(target, request.data, request.data_size);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3071
            ret = 0;
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3072
        }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3073
    }
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3074
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3075
    ec_soe_request_clear(&request);
35611452b785 Removed unnecessary ec_master_soe_request_t type.
Florian Pose <fp@igh-essen.com>
parents: 2461
diff changeset
  3076
    return ret;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3077
}
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3078
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3079
/*****************************************************************************/
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3080
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3081
void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3082
{
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3083
    ec_slave_config_t *sc;
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3084
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3085
    list_for_each_entry(sc, &master->configs, list) {
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3086
        if (sc->slave) {
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3087
            ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3088
        }
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3089
    }
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3090
}
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3091
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3092
/*****************************************************************************/
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3093
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  3094
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  3095
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  3096
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  3097
EXPORT_SYMBOL(ecrt_master_activate);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  3098
EXPORT_SYMBOL(ecrt_master_deactivate);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  3099
EXPORT_SYMBOL(ecrt_master_send);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  3100
EXPORT_SYMBOL(ecrt_master_send_ext);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  3101
EXPORT_SYMBOL(ecrt_master_receive);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  3102
EXPORT_SYMBOL(ecrt_master_callbacks);
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  3103
EXPORT_SYMBOL(ecrt_master);
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  3104
EXPORT_SYMBOL(ecrt_master_get_slave);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  3105
EXPORT_SYMBOL(ecrt_master_slave_config);
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  3106
EXPORT_SYMBOL(ecrt_master_select_reference_clock);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  3107
EXPORT_SYMBOL(ecrt_master_state);
2380
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
  3108
EXPORT_SYMBOL(ecrt_master_link_state);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  3109
EXPORT_SYMBOL(ecrt_master_application_time);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  3110
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  3111
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  3112
EXPORT_SYMBOL(ecrt_master_reference_clock_time);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3113
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3114
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  3115
EXPORT_SYMBOL(ecrt_master_sdo_download);
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2115
diff changeset
  3116
EXPORT_SYMBOL(ecrt_master_sdo_download_complete);
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2085
diff changeset
  3117
EXPORT_SYMBOL(ecrt_master_sdo_upload);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3118
EXPORT_SYMBOL(ecrt_master_write_idn);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1939
diff changeset
  3119
EXPORT_SYMBOL(ecrt_master_read_idn);
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  3120
EXPORT_SYMBOL(ecrt_master_reset);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  3121
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  3122
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  3123
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  3124
/*****************************************************************************/