master/master.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Jun 2010 22:51:51 +0200
changeset 1935 8ea1033bd4c2
parent 1930 59a50053ccc6
child 1939 1ba48f78a0a5
permissions -rw-r--r--
Fixed NULL pointer dereference on request error in RTAI example.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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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/*****************************************************************************/
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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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/*****************************************************************************/
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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 = (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 = 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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   Master constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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        unsigned int index, /**< master index */
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        const uint8_t *main_mac, /**< MAC address of main device */
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        const uint8_t *backup_mac, /**< MAC address of backup device */
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        dev_t device_number, /**< Character device number. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   124
        struct class *class, /**< Device class. */
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   125
        unsigned int debug_level /**< Debug level (module parameter). */
576
158c5a3d0a2a New module file /sys/ethercat, masters moved to /sys/ethercat/masterX.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   126
        )
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   127
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   128
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   129
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   130
    master->index = index;
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 646
diff changeset
   131
    master->reserved = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   132
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   133
    sema_init(&master->master_sem, 1);
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
   134
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   135
    master->main_mac = main_mac;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   136
    master->backup_mac = backup_mac;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   137
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   138
    sema_init(&master->device_sem, 1);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   139
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   140
    master->phase = EC_ORPHANED;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   141
    master->active = 0;
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
   142
    master->config_changed = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   143
    master->injection_seq_fsm = 0;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   144
    master->injection_seq_rt = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   145
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   146
    master->slaves = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   147
    master->slave_count = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   148
    
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   149
    INIT_LIST_HEAD(&master->configs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   150
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   151
    master->app_time = 0ULL;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   152
    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
   153
    master->has_app_time = 0;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   154
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   155
    master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   156
    master->allow_scan = 1;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   157
    sema_init(&master->scan_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   158
    init_waitqueue_head(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   159
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   160
    master->config_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   161
    master->allow_config = 1;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   162
    sema_init(&master->config_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   163
    init_waitqueue_head(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   164
    
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   165
    INIT_LIST_HEAD(&master->datagram_queue);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   166
    master->datagram_index = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   167
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   168
    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
   169
    sema_init(&master->ext_queue_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   170
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   171
    INIT_LIST_HEAD(&master->external_datagram_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
   172
    
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
   173
    // 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
   174
    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
   175
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
   176
    INIT_LIST_HEAD(&master->domains);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   177
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   178
    master->debug_level = debug_level;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   179
    master->stats.timeouts = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   180
    master->stats.corrupted = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   181
    master->stats.unmatched = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   182
    master->stats.output_jiffies = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   183
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   184
    master->thread = NULL;
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   185
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
   186
#ifdef EC_EOE
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   187
    master->eoe_thread = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   188
    INIT_LIST_HEAD(&master->eoe_handlers);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   189
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   190
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   191
    sema_init(&master->io_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   192
    master->send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   193
    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
   194
    master->cb_data = NULL;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   195
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   196
    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
   197
    master->app_cb_data = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   198
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   199
    INIT_LIST_HEAD(&master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   200
    init_waitqueue_head(&master->sii_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   201
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   202
    INIT_LIST_HEAD(&master->reg_requests);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   203
    init_waitqueue_head(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1198
diff changeset
   204
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   205
    // init devices
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   206
    ret = ec_device_init(&master->main_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   207
    if (ret < 0)
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   208
        goto out_return;
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   209
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   210
    ret = ec_device_init(&master->backup_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   211
    if (ret < 0)
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   212
        goto out_clear_main;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   213
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
   214
    // 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
   215
    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
   216
    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
   217
    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
   218
    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
   219
        ec_datagram_clear(&master->fsm_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   220
        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   221
        goto out_clear_backup;
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
   222
    }
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
   223
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   224
    // 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
   225
    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
   226
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   227
    // init reference sync datagram
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   228
    ec_datagram_init(&master->ref_sync_datagram);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   229
    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   230
    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   231
    if (ret < 0) {
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   232
        ec_datagram_clear(&master->ref_sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   233
        EC_MASTER_ERR(master, "Failed to allocate reference"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   234
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   235
        goto out_clear_fsm;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   236
    }
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   237
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   238
    // 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
   239
    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
   240
    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
   241
    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
   242
    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
   243
        ec_datagram_clear(&master->sync_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   244
        EC_MASTER_ERR(master, "Failed to allocate"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   245
                " synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   246
        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
   247
    }
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   248
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   249
    // init sync monitor datagram
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   250
    ec_datagram_init(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   251
    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   252
    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
   253
    if (ret < 0) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   254
        ec_datagram_clear(&master->sync_mon_datagram);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   255
        EC_MASTER_ERR(master, "Failed to allocate sync"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   256
                " monitoring datagram.\n");
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   257
        goto out_clear_sync;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   258
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   259
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   260
    ec_master_find_dc_ref_clock(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   261
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   262
    // init character device
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   263
    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
   264
    if (ret)
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   265
        goto out_clear_sync_mon;
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   266
    
1369
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   267
#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
   268
    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
   269
            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
   270
            "EtherCAT%u", master->index);
61793d845ad6 Preparations to compile against 2.6.27.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   271
#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
   272
    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
   273
            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
   274
            "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
   275
#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
   276
    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
   277
            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
   278
            "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
   279
#else
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   280
    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
   281
            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
   282
            "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
   283
#endif
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   284
    if (IS_ERR(master->class_device)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   285
        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
   286
        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
   287
        goto out_clear_cdev;
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   288
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   289
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 176
diff changeset
   290
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   291
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   292
out_clear_cdev:
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   293
    ec_cdev_clear(&master->cdev);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   294
out_clear_sync_mon:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   295
    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
   296
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
   297
    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
   298
out_clear_ref_sync:
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   299
    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
   300
out_clear_fsm:
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   301
    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
   302
    ec_datagram_clear(&master->fsm_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   303
out_clear_backup:
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   304
    ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   305
out_clear_main:
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   306
    ec_device_clear(&master->main_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   307
out_return:
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   308
    return ret;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 35
diff changeset
   311
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   313
/** Destructor.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   314
*/
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   315
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
   316
        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
   317
        )
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   318
{
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
Florian Pose <fp@igh-essen.com>
parents: 1245
diff changeset
   319
#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
   320
    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
   321
#else
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   322
    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
   323
#endif
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   324
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   325
    ec_cdev_clear(&master->cdev);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   326
    
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   327
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   328
    ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   329
#endif
994
e29edcced328 Clear domains before slave configs, because domain references the FMMU
Florian Pose <fp@igh-essen.com>
parents: 993
diff changeset
   330
    ec_master_clear_domains(master);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   331
    ec_master_clear_slave_configs(master);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   332
    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
   333
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   334
    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
   335
    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
   336
    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
   337
    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
   338
    ec_datagram_clear(&master->fsm_datagram);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   339
    ec_device_clear(&master->backup_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   340
    ec_device_clear(&master->main_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   341
}
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   342
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   343
/*****************************************************************************/
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   344
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   345
#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
   346
/** Clear and free all EoE handlers.
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   347
 */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   348
void ec_master_clear_eoe_handlers(
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   349
        ec_master_t *master /**< EtherCAT master */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   350
        )
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   351
{
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   352
    ec_eoe_t *eoe, *next;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   353
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   354
    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
   355
        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
   356
        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
   357
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   358
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   359
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   360
#endif
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   361
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   362
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   363
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   364
/** 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
   365
 */
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   366
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
   367
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   368
    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
   369
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   370
    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
   371
        list_del(&sc->list);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   372
        ec_slave_config_clear(sc);
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   373
        kfree(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   374
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   375
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   376
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   377
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   378
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   379
/** 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
   380
 */
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   381
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
   382
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   383
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   384
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   385
    master->dc_ref_clock = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   386
1538
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   387
    // external requests are obsolete, so we wake pending waiters and remove
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   388
    // them from the list
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   389
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   390
    while (!list_empty(&master->sii_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   391
        ec_sii_write_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   392
            list_entry(master->sii_requests.next,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   393
                    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
   394
        list_del_init(&request->list); // dequeue
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   395
        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   396
                " 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
   397
        request->state = EC_INT_REQUEST_FAILURE;
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
   398
        wake_up(&master->sii_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
   399
    }
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
   400
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   401
    while (!list_empty(&master->reg_requests)) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   402
        ec_reg_request_t *request =
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   403
            list_entry(master->reg_requests.next, ec_reg_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
   404
        list_del_init(&request->list); // dequeue
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   405
        EC_MASTER_WARN(master, "Discarding register request, slave %u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   406
                " about 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
   407
        request->state = EC_INT_REQUEST_FAILURE;
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
   408
        wake_up(&master->reg_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
   409
    }
1538
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   410
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   411
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   412
            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
   413
            slave++) {
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   414
        ec_slave_clear(slave);
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   415
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   416
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   417
    if (master->slaves) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   418
        kfree(master->slaves);
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   419
        master->slaves = NULL;
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   420
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   421
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   422
    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
   423
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   424
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   425
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   426
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   427
/** Clear all domains.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   428
 */
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   429
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
   430
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   431
    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
   432
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   433
    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
   434
        list_del(&domain->list);
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   435
        ec_domain_clear(domain);
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   436
        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
   437
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   438
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   439
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   440
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   441
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   442
/** Internal sending callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   443
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   444
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
   445
        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
   446
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   447
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   448
    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
   449
    down(&master->io_sem);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   450
    ecrt_master_send_ext(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   451
    up(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   452
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   453
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   454
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   455
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   456
/** Internal receiving callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   457
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   458
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
   459
        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
   460
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   461
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   462
    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
   463
    down(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   464
    ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   465
    up(&master->io_sem);
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   466
}
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   467
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   468
/*****************************************************************************/
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   469
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   470
/** Starts the master thread.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   471
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   472
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   473
 * \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
   474
 */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   475
int ec_master_thread_start(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   476
        ec_master_t *master, /**< EtherCAT master */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   477
        int (*thread_func)(void *), /**< thread function to start */
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   478
        const char *name /**< Thread name. */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   479
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   480
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   481
    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
   482
    master->thread = kthread_run(thread_func, master, name);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   483
    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
   484
        int err = (int) PTR_ERR(master->thread);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   485
        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
   486
                err);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   487
        master->thread = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   488
        return err;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   489
    }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   490
    
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   491
    return 0;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   492
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   493
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   494
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   495
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   496
/** Stops the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   497
 */
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   498
void ec_master_thread_stop(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   499
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   500
        )
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   501
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   502
    unsigned long sleep_jiffies;
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   503
    
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   504
    if (!master->thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   505
        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
   506
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   507
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   508
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   509
    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
   510
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   511
    kthread_stop(master->thread);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   512
    master->thread = NULL;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   513
    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
   514
1198
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   515
    if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   516
        return;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   517
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   518
    // wait for FSM datagram
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   519
    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
   520
    schedule_timeout(sleep_jiffies);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   521
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   522
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   523
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   524
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   525
/** Transition function from ORPHANED to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   526
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   527
int ec_master_enter_idle_phase(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   528
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   529
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   530
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   531
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   532
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   533
    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
   534
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   535
    master->send_cb = ec_master_internal_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   536
    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
   537
    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
   538
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   539
    master->phase = EC_IDLE;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   540
    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
   541
            "EtherCAT-IDLE");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   542
    if (ret)
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   543
        master->phase = EC_ORPHANED;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   544
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   545
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   546
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   547
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   548
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   549
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   550
/** Transition function from IDLE to ORPHANED phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   551
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   552
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
   553
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   554
    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
   555
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   556
    master->phase = EC_ORPHANED;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   557
    
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   558
#ifdef EC_EOE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   559
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   560
#endif
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   561
    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
   562
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
   563
    down(&master->master_sem);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   564
    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
   565
    up(&master->master_sem);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   566
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   567
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   568
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   569
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   570
/** Transition function from IDLE to OPERATION phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   571
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   572
int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   573
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   574
    int ret = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   575
    ec_slave_t *slave;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   576
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   577
    ec_eoe_t *eoe;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   578
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   579
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   580
    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
   581
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   582
    down(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   583
    master->allow_config = 0; // temporarily disable slave configuration
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   584
    if (master->config_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   585
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   586
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   587
        // 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
   588
        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
   589
                    !master->config_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   590
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   591
            EC_MASTER_INFO(master, "Finishing slave configuration"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   592
                    " interrupted by signal.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   593
            goto out_allow;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   594
        }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   595
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   596
        EC_MASTER_DBG(master, 1, "Waiting for pending slave"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   597
                " configuration returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   598
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   599
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   600
    }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   601
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   602
    down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   603
    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
   604
    if (!master->scan_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   605
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   606
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   607
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   608
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   609
        // wait for slave scan to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   610
        ret = wait_event_interruptible(master->scan_queue, !master->scan_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   611
        if (ret) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   612
            EC_MASTER_INFO(master, "Waiting for slave scan"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   613
                    " interrupted by signal.\n");
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   614
            goto out_allow;
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   615
        }
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   616
        
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   617
        EC_MASTER_DBG(master, 1, "Waiting for pending"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   618
                " slave scan returned.\n");
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   619
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   620
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   621
    // 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
   622
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   623
            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
   624
            slave++) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   625
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   626
    }
1451
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
   627
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   628
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   629
    // ... but set EoE slaves to OP
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   630
    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
   631
        if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   632
            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
   633
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   634
#endif
446
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
    master->phase = EC_OPERATION;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   637
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   638
    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
   639
    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
   640
    return ret;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   641
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   642
out_allow:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   643
    master->allow_scan = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   644
    master->allow_config = 1;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   645
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   646
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   647
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   648
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   649
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   650
/** Transition function from OPERATION to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   651
 */
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   652
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
   653
        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
   654
        )
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   655
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   656
    if (master->active)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   657
        ecrt_master_deactivate(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   658
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   659
    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
   660
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   661
    master->phase = EC_IDLE;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   662
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   663
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
   664
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
   665
/*****************************************************************************/
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
   666
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   667
/** 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
   668
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   669
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
   670
        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
   671
        )
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
   672
{
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
   673
    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
   674
    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
   675
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
   676
    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
   677
        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
   678
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   679
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   680
    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
   681
            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
   682
        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
   683
        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
   684
            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
   685
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   686
            EC_MASTER_DBG(master, 0, "Injecting external datagram %08x"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   687
                    " size=%u, queue_size=%u\n", (unsigned int) datagram,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   688
                    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
   689
#endif
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   690
#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
   691
            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
   692
#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
   693
            datagram->jiffies_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
   694
            ec_master_queue_datagram(master, datagram);
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
   695
        }
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
   696
        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
   697
            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
   698
                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
   699
                datagram->state = EC_DATAGRAM_ERROR;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   700
                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
   701
                        " 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
   702
                        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
   703
                        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
   704
            } else {
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   705
#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
   706
                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
   707
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
   708
                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
   709
                        > 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
   710
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   711
                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
   712
                        > 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
   713
#endif
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   714
                {
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   715
                    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
   716
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   717
                    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
   718
                    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
   719
#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
   720
                    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
   721
                        ((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
   722
                        / cpu_khz;
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   723
#else
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   724
                    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
   725
                        ((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
   726
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   727
                    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
   728
                            " 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
   729
                            " 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
   730
                            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
   731
                }
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   732
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   733
                else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   734
                    EC_MASTER_DBG(master, 0, "Deferred injecting"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   735
                            " 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
   736
                            " 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
   737
                            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
   738
                }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   739
#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
   740
            }
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
   741
        }
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
   742
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   743
}
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   744
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   745
/*****************************************************************************/
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   746
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   747
/** 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
   748
 * 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
   749
 */
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   750
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
   751
        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
   752
        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
   753
        )
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   754
{
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   755
    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
   756
    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
   757
        (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
   758
    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
   759
}
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
   760
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
   761
/*****************************************************************************/
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
   762
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   763
/** 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
   764
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   765
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
   766
        ec_master_t *master, /**< EtherCAT 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
   767
        ec_datagram_t *datagram /**< datagram */
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
   768
        )
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
   769
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   770
    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
   771
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
   772
    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
   773
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   774
    // check, if the datagram is already queued
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   775
    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
   776
            queue) {
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   777
        if (queued_datagram == datagram) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   778
            datagram->state = EC_DATAGRAM_QUEUED;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   779
            return;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   780
        }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   781
    }
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
   782
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   783
#if DEBUG_INJECT
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   784
    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
   785
            datagram, datagram->data_size);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   786
#endif
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   787
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   788
    list_add_tail(&datagram->queue, &master->external_datagram_queue);
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   789
    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
   790
#ifdef EC_HAVE_CYCLES
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   791
    datagram->cycles_sent = get_cycles();
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   792
#endif
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   793
    datagram->jiffies_sent = jiffies;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   794
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   795
    master->fsm.idle = 0;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   796
    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
   797
}
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
   798
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   799
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   800
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   801
/** 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
   802
 */
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   803
void ec_master_queue_datagram(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   804
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   805
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   806
        )
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   807
{
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   808
    ec_datagram_t *queued_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   809
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
   810
    if (datagram->state == EC_DATAGRAM_SENT)
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
   811
        return;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   812
    // check, if the datagram is already queued
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   813
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   814
        if (queued_datagram == datagram) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   815
            datagram->skip_count++;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   816
            EC_MASTER_DBG(master, 1, "skipping datagram %p.\n", datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   817
            datagram->state = EC_DATAGRAM_QUEUED;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   818
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   819
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   820
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   821
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   822
    list_add_tail(&datagram->queue, &master->datagram_queue);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   823
    datagram->state = EC_DATAGRAM_QUEUED;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   824
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   825
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   826
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   827
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   828
/** Places a datagram in the non-application datagram queue.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   829
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   830
void ec_master_queue_datagram_ext(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   831
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   832
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   833
        )
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   834
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   835
    down(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   836
    list_add_tail(&datagram->queue, &master->ext_datagram_queue);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   837
    up(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   838
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   839
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   840
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   841
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   842
/** Sends the datagrams in the queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   843
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   844
 */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   845
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   846
{
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   847
    ec_datagram_t *datagram, *next;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
   848
    size_t datagram_size;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   849
    uint8_t *frame_data, *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   850
    void *follows_word;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   851
#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
   852
    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
   853
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   854
    unsigned long jiffies_sent;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   855
    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
   856
    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
   857
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   858
#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
   859
    cycles_start = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   860
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   861
    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
   862
    INIT_LIST_HEAD(&sent_datagrams);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   863
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   864
    EC_MASTER_DBG(master, 2, "ec_master_send_datagrams\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   865
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   866
    do {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   867
        // fetch pointer to transmit socket buffer
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   868
        frame_data = ec_device_tx_data(&master->main_device);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   869
        cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   870
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   871
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   872
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   873
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   874
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   875
            if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   876
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   877
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   878
            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
   879
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   880
            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
   881
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   882
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   883
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   884
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   885
            list_add_tail(&datagram->sent, &sent_datagrams);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   886
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   887
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   888
            EC_MASTER_DBG(master, 2, "adding datagram 0x%02X\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   889
                    datagram->index);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   890
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   891
            // set "datagram following" flag in previous frame
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   892
            if (follows_word)
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   893
                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   894
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   895
            // EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   896
            EC_WRITE_U8 (cur_data,     datagram->type);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   897
            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
   898
            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
   899
            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
   900
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   901
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   902
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   903
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   904
            // EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   905
            memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   906
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   907
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   908
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   909
            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
   910
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   911
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   912
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   913
        if (list_empty(&sent_datagrams)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   914
            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
   915
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   916
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   917
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   918
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   919
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   920
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   921
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   922
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
   923
        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
   924
            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
   925
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   926
        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
   927
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   928
        // send frame
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   929
        ec_device_send(&master->main_device, cur_data - frame_data);
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_sent = get_cycles();
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
        jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   934
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   935
        // 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
   936
        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
   937
            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
   938
#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
   939
            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
   940
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   941
            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
   942
            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
   943
        }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   944
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   945
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   946
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   947
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   948
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   949
#ifdef EC_HAVE_CYCLES
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   950
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   951
        cycles_end = get_cycles();
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   952
        EC_MASTER_DBG(master, 0, "ec_master_send_datagrams"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   953
                " sent %u frames in %uus.\n", frame_count,
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   954
               (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
   955
    }
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   956
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   957
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   958
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   959
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   960
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   961
/** Processes a received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   962
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   963
 * This function is called by the network driver for every received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   964
 * 
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   965
 * \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
   966
 */
331
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   967
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
   968
                                 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
   969
                                 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
   970
                                 )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   971
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   972
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   973
    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
   974
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   975
    const uint8_t *cur_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   976
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   977
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   978
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   979
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   980
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   981
                    " (size %zu < %u byte):\n",
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   982
                    size, EC_FRAME_HEADER_SIZE);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   983
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   984
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   985
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   986
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   987
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   988
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   989
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   990
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   991
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   992
    // 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
   993
    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
   994
    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
   995
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   996
    if (unlikely(frame_size > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   997
        if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   998
            EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
   999
                    " (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
  1000
                    "received size %zu):\n", frame_size, size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1001
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1002
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1003
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1004
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1005
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1006
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1007
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1008
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1009
    while (cmd_follows) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1010
        // process datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1011
        datagram_type  = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1012
        datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1013
        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
  1014
        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
  1015
        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
  1016
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1017
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1018
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1019
            if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1020
                EC_MASTER_DBG(master, 0, "Corrupted frame received"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1021
                        " (invalid data size %zu):\n", data_size);
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1022
                ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
  1023
            }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1024
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1025
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1026
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1027
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1028
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1029
        // 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
  1030
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1031
        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
  1032
            if (datagram->index == datagram_index
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
  1033
                && datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1034
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1035
                && 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
  1036
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1037
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1038
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1039
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1040
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1041
        // 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
  1042
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1043
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1044
            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
  1045
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1046
            if (unlikely(master->debug_level > 0)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1047
                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
  1048
                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
  1049
                        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
  1050
                        + 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
  1051
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1052
                ec_device_debug_ring_print(&master->main_device);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
  1053
#endif
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1054
            }
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1055
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1056
            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
  1057
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1058
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1059
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
  1060
        // copy received data into the datagram memory
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1061
        memcpy(datagram->data, cur_data, data_size);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1062
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1063
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1064
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1065
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1066
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1067
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1068
        // 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
  1069
        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
  1070
#ifdef EC_HAVE_CYCLES
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1071
        datagram->cycles_received = master->main_device.cycles_poll;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1072
#endif
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
  1073
        datagram->jiffies_received = master->main_device.jiffies_poll;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1074
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1075
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1076
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1077
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1078
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1079
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1080
/** Output master statistics.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1081
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1082
 * 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
  1083
 * 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
  1084
 */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1085
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
  1086
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1087
    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
  1088
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1089
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1090
        if (master->stats.timeouts) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1091
            EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1092
                    master->stats.timeouts,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1093
                    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
  1094
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1095
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1096
        if (master->stats.corrupted) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1097
            EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1098
                    master->stats.corrupted,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1099
                    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
  1100
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1101
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1102
        if (master->stats.unmatched) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1103
            EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1104
                    master->stats.unmatched,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1105
                    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
  1106
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1107
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1108
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1109
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1110
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1111
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1112
/*****************************************************************************/
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
  1113
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
  1114
#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
  1115
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1116
/*
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1117
 * Sleep related functions:
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1118
 */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1119
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
  1120
{
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
  1121
    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
  1122
        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
  1123
    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
  1124
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
  1125
    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
  1126
    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
  1127
        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
  1128
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
  1129
    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
  1130
}
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
  1131
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
  1132
/*****************************************************************************/
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1133
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1134
#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
  1135
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1136
/* 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
  1137
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
  1138
{
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
  1139
    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
  1140
}
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
  1141
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
  1142
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1143
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1144
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
  1145
{
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
  1146
    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
  1147
}
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
  1148
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
  1149
#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
  1150
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
  1151
/*****************************************************************************/
1603
8e528f806dc5 fix build for recent kernel versions (tested with 2.6.31)
Matthias Luescher <ch1010472@ch10lt140>
parents: 1600
diff changeset
  1152
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1153
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
  1154
{
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
  1155
    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
  1156
    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
  1157
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
  1158
    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
  1159
    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
  1160
    t.task = current;
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1161
#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
  1162
#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
  1163
    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
  1164
#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
  1165
    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
  1166
#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
  1167
    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
  1168
#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
  1169
#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
  1170
    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
  1171
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
  1172
    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
  1173
        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
  1174
        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
  1175
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
  1176
        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
  1177
            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
  1178
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
  1179
        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
  1180
        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
  1181
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
  1182
    } 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
  1183
}
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
  1184
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
  1185
#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
  1186
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1187
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1188
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1189
/** 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
  1190
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1191
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
  1192
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1193
    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
  1194
    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
  1195
    int fsm_exec;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1196
    size_t sent_bytes;
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1197
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1198
    // send interval in IDLE phase
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1199
    ec_master_set_send_interval(master, 1000000 / HZ); 
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1200
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1201
    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
  1202
            " max data size=%zu\n", master->send_interval,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1203
            master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1204
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1205
    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
  1206
        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
  1207
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1208
        // receive
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1209
        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
  1210
        ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1211
        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
  1212
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
  1213
        fsm_exec = 0;
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
  1214
        // execute master & slave state machines
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1215
        if (down_interruptible(&master->master_sem))
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1216
            break;
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
  1217
        fsm_exec = ec_fsm_master_exec(&master->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
  1218
        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
  1219
                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
  1220
                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
  1221
            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
  1222
        }
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
  1223
        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
  1224
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1225
        // queue and send
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1226
        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
  1227
        if (fsm_exec) {
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
  1228
            ec_master_queue_datagram(master, &master->fsm_datagram);
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
  1229
        }
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  1230
        ec_master_inject_external_datagrams(master);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1231
        ecrt_master_send(master);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1232
        sent_bytes = master->main_device.tx_skb[
1774
a9143f82c7c5 Fixed name of byte transmission time define; changed coding style.
Florian Pose <fp@igh-essen.com>
parents: 1773
diff changeset
  1233
            master->main_device.tx_ring_index]->len;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1234
        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
  1235
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1236
        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
  1237
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1238
            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
  1239
#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
  1240
            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
  1241
            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
  1242
#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
  1243
        } 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
  1244
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1245
            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
  1246
#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
  1247
            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
  1248
#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
  1249
        }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1250
    }
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
  1251
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1252
    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
  1253
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1254
    return 0;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1255
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1256
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1257
/*****************************************************************************/
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1258
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
  1259
/** 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
  1260
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1261
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
  1262
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1263
    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
  1264
    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
  1265
    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
  1266
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1267
    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
  1268
            " 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
  1269
            master->send_interval, master->max_queue_size);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1270
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1271
    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
  1272
        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
  1273
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
  1274
        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
  1275
            // 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
  1276
            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
  1277
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
  1278
            fsm_exec = 0;
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
  1279
            // execute master & slave state machines
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
  1280
            if (down_interruptible(&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
  1281
                break;
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
  1282
            fsm_exec += ec_fsm_master_exec(&master->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
  1283
            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
  1284
                    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
  1285
                    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
  1286
                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
  1287
            }
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
  1288
            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
  1289
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
  1290
            // inject datagrams (let the rt thread queue them, see ecrt_master_send)
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
  1291
            if (fsm_exec)
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
  1292
                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
  1293
        }
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
  1294
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
  1295
#ifdef EC_USE_HRTIMER
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1296
        // 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
  1297
        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
  1298
#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
  1299
        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
  1300
            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
  1301
            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
  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
        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
  1304
            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
  1305
        }
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
#endif
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  1307
    }
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1308
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1309
    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
  1310
    return 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1311
}
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1312
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1313
/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1314
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1315
#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
  1316
/** 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
  1317
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1318
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
  1319
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1320
    struct sched_param param = { .sched_priority = 0 };
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1321
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1322
    if (master->eoe_thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1323
        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
  1324
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1325
    }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1326
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1327
    if (list_empty(&master->eoe_handlers))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1328
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1329
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1330
    if (!master->send_cb || !master->receive_cb) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1331
        EC_MASTER_WARN(master, "No EoE processing"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1332
                " 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
  1333
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1334
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1335
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1336
    EC_MASTER_INFO(master, "Starting EoE thread.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1337
    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
  1338
            "EtherCAT-EoE");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1339
    if (IS_ERR(master->eoe_thread)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1340
        int err = (int) PTR_ERR(master->eoe_thread);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1341
        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
  1342
                err);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1343
        master->eoe_thread = NULL;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1344
        return;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1345
    }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1346
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1347
    sched_setscheduler(master->eoe_thread, SCHED_NORMAL, &param);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1348
    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
  1349
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1350
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1351
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1352
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1353
/** 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
  1354
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1355
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
  1356
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1357
    if (master->eoe_thread) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1358
        EC_MASTER_INFO(master, "Stopping EoE thread.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1359
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1360
        kthread_stop(master->eoe_thread);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1361
        master->eoe_thread = NULL;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1362
        EC_MASTER_INFO(master, "EoE thread exited.\n");
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1363
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1364
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1365
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1366
/*****************************************************************************/
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1367
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1368
/** 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
  1369
 */
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1370
static int ec_master_eoe_thread(void *priv_data)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1371
{
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1372
    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
  1373
    ec_eoe_t *eoe;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1374
    unsigned int none_open, sth_to_send, all_idle;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1375
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1376
    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
  1377
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1378
    while (!kthread_should_stop()) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1379
        none_open = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1380
        all_idle = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1381
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1382
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1383
            if (ec_eoe_is_open(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1384
                none_open = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1385
                break;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1386
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1387
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1388
        if (none_open)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1389
            goto schedule;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1390
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1391
        // 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
  1392
        master->receive_cb(master->cb_data);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1393
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1394
        // actual EoE processing
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1395
        sth_to_send = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1396
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1397
            ec_eoe_run(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1398
            if (eoe->queue_datagram) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1399
                sth_to_send = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1400
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1401
            if (!ec_eoe_is_idle(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1402
                all_idle = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1403
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1404
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1405
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1406
        if (sth_to_send) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1407
            list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1408
                ec_eoe_queue(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1409
            }
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1410
            // (try to) send datagrams
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1411
            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
  1412
            master->send_cb(master->cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1413
            up(&master->ext_queue_sem);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1414
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1415
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1416
schedule:
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1417
        if (all_idle) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1418
            set_current_state(TASK_INTERRUPTIBLE);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1419
            schedule_timeout(1);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1420
        } else {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1421
            schedule();
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1422
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1423
    }
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
  1424
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1425
    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
  1426
    return 0;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1427
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1428
#endif
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1429
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1430
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1431
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1432
/** Detaches the slave configurations from the slaves.
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
  1433
 */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1434
void ec_master_detach_slave_configs(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1435
        ec_master_t *master /**< EtherCAT 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
  1436
        )
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1437
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1438
    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
  1439
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1440
    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
  1441
        ec_slave_config_detach(sc); 
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1442
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1443
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1444
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1445
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1446
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1447
/** 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
  1448
 */
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1449
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
  1450
        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
  1451
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1452
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1453
    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
  1454
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1455
    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
  1456
        ec_slave_config_attach(sc);
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1457
    }
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1458
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1459
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1460
/*****************************************************************************/
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1461
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1462
/** Common implementation for ec_master_find_slave()
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1463
 * and ec_master_find_slave_const().
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1464
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1465
#define EC_FIND_SLAVE \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1466
    do { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1467
        if (alias) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1468
            for (; slave < master->slaves + master->slave_count; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1469
                    slave++) { \
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
Florian Pose <fp@igh-essen.com>
parents: 1906
diff changeset
  1470
                if (slave->effective_alias == alias) \
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1471
                break; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1472
            } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1473
            if (slave == master->slaves + master->slave_count) \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1474
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1475
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1476
        \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1477
        slave += position; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1478
        if (slave < master->slaves + master->slave_count) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1479
            return slave; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1480
        } else { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1481
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1482
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1483
    } while (0)
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1484
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1485
/** 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
  1486
 */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1487
ec_slave_t *ec_master_find_slave(
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1488
        ec_master_t *master, /**< EtherCAT master. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1489
        uint16_t alias, /**< Slave alias. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1490
        uint16_t position /**< Slave position. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1491
        )
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1492
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
  1493
    ec_slave_t *slave = master->slaves;
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1494
    EC_FIND_SLAVE;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1495
}
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1496
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1497
/** 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
  1498
 *
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1499
 * Const version.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1500
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1501
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
  1502
        const ec_master_t *master, /**< EtherCAT master. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1503
        uint16_t alias, /**< Slave alias. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1504
        uint16_t position /**< Slave position. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1505
        )
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1506
{
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1507
    const ec_slave_t *slave = master->slaves;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1508
    EC_FIND_SLAVE;
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1509
}
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1510
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1511
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1512
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1513
/** 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
  1514
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1515
 * \return Number of configurations.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1516
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1517
unsigned int ec_master_config_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1518
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1519
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1520
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1521
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1522
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1523
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1524
    list_for_each_entry(sc, &master->configs, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1525
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1526
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1527
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1528
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1529
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1530
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1531
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1532
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1533
/** Common implementation for ec_master_get_config()
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1534
 * and ec_master_get_config_const().
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1535
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1536
#define EC_FIND_CONFIG \
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1537
    do { \
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1538
        list_for_each_entry(sc, &master->configs, list) { \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1539
            if (pos--) \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1540
                continue; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1541
            return sc; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1542
        } \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1543
        return NULL; \
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1544
    } while (0)
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1545
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1546
/** 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
  1547
 *
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1548
 * \return Slave configuration or \a NULL.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1549
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1550
ec_slave_config_t *ec_master_get_config(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1551
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1552
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1553
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1554
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1555
    ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1556
    EC_FIND_CONFIG;
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1557
}
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1558
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1559
/** 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
  1560
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1561
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1562
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1563
 * \return Slave configuration or \a NULL.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1564
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1565
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
  1566
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1567
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1568
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1569
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1570
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1571
    EC_FIND_CONFIG;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1572
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1573
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1574
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1575
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1576
/** Get the number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1577
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1578
 * \return Number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1579
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1580
unsigned int ec_master_domain_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1581
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1582
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1583
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1584
    const ec_domain_t *domain;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1585
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1586
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1587
    list_for_each_entry(domain, &master->domains, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1588
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1589
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1590
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1591
    return count;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1592
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1593
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1594
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1595
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1596
/** 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
  1597
 * 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
  1598
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1599
#define EC_FIND_DOMAIN \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1600
    do { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1601
        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
  1602
            if (index--) \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1603
                continue; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1604
            return domain; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1605
        } \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1606
        \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1607
        return NULL; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1608
    } while (0)
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1609
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1610
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1611
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1612
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1613
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1614
ec_domain_t *ec_master_find_domain(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1615
        ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1616
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1617
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1618
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1619
    ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1620
    EC_FIND_DOMAIN;
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1621
}
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1622
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1623
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1624
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1625
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1626
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1627
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1628
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1629
const ec_domain_t *ec_master_find_domain_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1630
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1631
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1632
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1633
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1634
    const ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1635
    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
  1636
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1637
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1638
/*****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1639
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1640
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1641
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1642
/** Get the number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1643
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1644
 * \return Number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1645
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1646
uint16_t ec_master_eoe_handler_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1647
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1648
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1649
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1650
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1651
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1652
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1653
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1654
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1655
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1656
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1657
    return count;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1658
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1659
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1660
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1661
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1662
/** Get an EoE handler via its position in the list.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1663
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1664
 * Const version.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1665
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1666
 * \return EoE handler pointer, or \a NULL if not found.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1667
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1668
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
  1669
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1670
        uint16_t index /**< EoE handler index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1671
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1672
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1673
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1674
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1675
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1676
        if (index--)
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1677
            continue;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1678
        return eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1679
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1680
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1681
    return NULL;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1682
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1683
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1684
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1685
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1686
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1687
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1688
/** Set the debug level.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1689
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1690
 * \retval       0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1691
 * \retval -EINVAL Invalid debug level.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1692
 */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1693
int ec_master_debug_level(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1694
        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
  1695
        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
  1696
        )
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1697
{
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1698
    if (level > 2) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1699
        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
  1700
        return -EINVAL;
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1701
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1702
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1703
    if (level != master->debug_level) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1704
        master->debug_level = level;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1705
        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
  1706
                master->debug_level);
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1707
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1708
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1709
    return 0;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1710
}
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1711
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1712
/*****************************************************************************/
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1713
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1714
/** Finds the DC reference clock.
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1715
 */
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1716
void ec_master_find_dc_ref_clock(
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1717
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1718
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1719
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1720
    ec_slave_t *slave, *ref = NULL;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1721
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1722
    for (slave = master->slaves;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1723
            slave < master->slaves + master->slave_count;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1724
            slave++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1725
        if (slave->base_dc_supported && slave->has_dc_system_time) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1726
            ref = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1727
            break;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1728
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1729
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1730
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1731
    master->dc_ref_clock = ref;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1732
    
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1733
    // This call always succeeds, because the datagram has been pre-allocated.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1734
    ec_datagram_frmw(&master->sync_datagram,
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1735
            ref ? ref->station_address : 0xffff, 0x0910, 4);
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1736
}
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1737
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1738
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1739
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1740
/** Calculates the bus topology; recursion function.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1741
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1742
int ec_master_calc_topology_rec(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1743
        ec_master_t *master, /**< EtherCAT master. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1744
        ec_slave_t *port0_slave, /**< Slave at port 0. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1745
        unsigned int *slave_position /**< Slave position. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1746
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1747
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1748
    ec_slave_t *slave = master->slaves + *slave_position;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1749
    unsigned int i;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1750
    int ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1751
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1752
    slave->ports[0].next_slave = port0_slave;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1753
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1754
    for (i = 1; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1755
        if (!slave->ports[i].link.loop_closed) {
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1756
            *slave_position = *slave_position + 1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1757
            if (*slave_position < master->slave_count) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1758
                slave->ports[i].next_slave = master->slaves + *slave_position;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1759
                ret = ec_master_calc_topology_rec(master,
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1760
                        slave, slave_position);
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1761
                if (ret)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1762
                    return ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1763
            } else {
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1764
                return -1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1765
            }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1766
        }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1767
    }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1768
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1769
    return 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1770
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1771
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1772
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1773
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1774
/** Calculates the bus topology.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1775
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1776
void ec_master_calc_topology(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1777
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1778
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1779
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1780
    unsigned int slave_position = 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1781
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1782
    if (master->slave_count == 0)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1783
        return;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1784
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1785
    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
  1786
        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
  1787
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1788
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1789
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1790
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1791
/** Calculates the bus transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1792
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1793
void ec_master_calc_transmission_delays(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1794
        ec_master_t *master /**< EtherCAT master. */
1507
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_slave_t *slave;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1798
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1799
    for (slave = master->slaves;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1800
            slave < master->slaves + master->slave_count;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1801
            slave++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1802
        ec_slave_calc_port_delays(slave);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1803
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1804
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1805
    if (master->dc_ref_clock) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1806
        uint32_t delay = 0;
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1807
        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
  1808
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1809
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1810
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1811
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1812
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1813
/** Distributed-clocks calculations.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1814
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1815
void ec_master_calc_dc(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1816
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1817
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1818
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1819
    // find DC reference clock
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1820
    ec_master_find_dc_ref_clock(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1821
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1822
    // calculate bus topology
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1823
    ec_master_calc_topology(master);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1824
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1825
    ec_master_calc_transmission_delays(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1826
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1827
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
  1828
/*****************************************************************************/
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
  1829
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
  1830
/** 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
  1831
 */
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
  1832
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
  1833
        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
  1834
        )
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
  1835
{
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
  1836
    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
  1837
    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
  1838
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
  1839
    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
  1840
        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
  1841
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
  1842
    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
  1843
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
  1844
    // 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
  1845
    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
  1846
        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
  1847
        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
  1848
            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
  1849
        }
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
  1850
    }
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
  1851
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
  1852
    // 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
  1853
    if (master->dc_ref_clock) {
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
  1854
        ec_slave_request_state(master->dc_ref_clock,
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
  1855
                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
  1856
    }
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
  1857
}
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
  1858
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
  1859
/******************************************************************************
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  1860
 *  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
  1861
 *****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1862
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1863
/** 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
  1864
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1865
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
  1866
        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
  1867
        )
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
  1868
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1869
    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
  1870
    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
  1871
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1872
    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
  1873
            master);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1874
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
  1875
    if (!(domain = (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
  1876
        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
  1877
        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
  1878
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1879
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
  1880
    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
  1881
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1882
    if (list_empty(&master->domains)) {
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1883
        index = 0;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1884
    } 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
  1885
        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
  1886
        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
  1887
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1888
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1889
    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
  1890
    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
  1891
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
  1892
    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
  1893
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1894
    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
  1895
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
  1896
    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
  1897
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1898
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1899
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1900
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1901
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
  1902
        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
  1903
        )
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1904
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1905
    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
  1906
    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
  1907
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1908
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1909
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1910
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1911
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
  1912
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1913
    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
  1914
    ec_domain_t *domain;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1915
    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
  1916
#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
  1917
    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
  1918
#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
  1919
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1920
    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
  1921
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1922
    if (master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1923
        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
  1924
        return 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1925
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1926
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
  1927
    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
  1928
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1929
    // 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
  1930
    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
  1931
    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
  1932
        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
  1933
        if (ret < 0) {
1197
f65f9c36ba33 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1934
            up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1935
            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
  1936
            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
  1937
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1938
        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
  1939
    }
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
  1940
    
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
  1941
    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
  1942
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1943
    // 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
  1944
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
  1945
    ec_master_thread_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1946
#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
  1947
    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
  1948
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1949
#endif
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1950
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1951
    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
  1952
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1953
    master->injection_seq_fsm = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1954
    master->injection_seq_rt = 0;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1955
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1956
    master->send_cb = master->app_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1957
    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
  1958
    master->cb_data = master->app_cb_data;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1959
    
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
  1960
#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
  1961
    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
  1962
        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
  1963
    }
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
  1964
#endif
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1965
    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
  1966
                "EtherCAT-OP");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1967
    if (ret < 0) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1968
        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
  1969
        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
  1970
    }
902
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1971
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1972
    master->allow_config = 1; // request the current configuration
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1973
    master->allow_scan = 1; // allow re-scanning on topology change
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1974
    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
  1975
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
  1976
    // 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
  1977
    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
  1978
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
  1979
    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
  1980
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1981
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1982
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1983
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1984
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
  1985
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1986
    ec_slave_t *slave;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1987
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1988
    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
  1989
    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
  1990
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1991
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1992
    EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%p)\n",
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1925
diff changeset
  1993
            master);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1994
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1995
    if (!master->active) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  1996
        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
  1997
        return;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1998
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1999
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
  2000
    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
  2001
#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
  2002
    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
  2003
    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
  2004
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2005
    
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2006
    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
  2007
    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
  2008
    master->cb_data = master;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2009
    
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2010
    down(&master->master_sem);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2011
    ec_master_clear_domains(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2012
    ec_master_clear_slave_configs(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2013
    up(&master->master_sem);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2014
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2015
    for (slave = master->slaves;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2016
            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
  2017
            slave++) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2018
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2019
        // 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
  2020
        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
  2021
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2022
        // 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
  2023
        // 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
  2024
        // phases.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2025
        slave->force_config = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2026
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2027
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2028
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2029
    // ... 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
  2030
    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
  2031
        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
  2032
            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
  2033
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2034
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2035
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2036
    master->app_time = 0ULL;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2037
    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
  2038
    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
  2039
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
  2040
#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
  2041
    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
  2042
        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
  2043
    }
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
  2044
#endif
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2045
    if (ec_master_thread_start(master, ec_master_idle_thread,
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2046
                "EtherCAT-IDLE"))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2047
        EC_MASTER_WARN(master, "Failed to restart master thread!\n");
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2048
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2049
    master->allow_scan = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2050
    master->allow_config = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2051
    master->active = 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2052
}
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2053
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2054
/*****************************************************************************/
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2055
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2056
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
  2057
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2058
    ec_datagram_t *datagram, *n;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2059
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2060
    if (master->injection_seq_rt != master->injection_seq_fsm) {
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
  2061
        // inject datagrams produced by master & slave FSMs
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
  2062
        ec_master_queue_datagram(master, &master->fsm_datagram);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2063
        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
  2064
    }
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  2065
    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
  2066
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2067
    if (unlikely(!master->main_device.link_state)) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2068
        // link is down, no datagram can be sent
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2069
        list_for_each_entry_safe(datagram, n, &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
  2070
            datagram->state = EC_DATAGRAM_ERROR;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2071
            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
  2072
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2073
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2074
        // query link state
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2075
        ec_device_poll(&master->main_device);
1856
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2076
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2077
        // clear frame statistics
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1848
diff changeset
  2078
        ec_device_clear_stats(&master->main_device);
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
        return;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2080
    }
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
    // send frames
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1774
diff changeset
  2083
    ec_master_send_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
  2084
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2085
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2086
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2087
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2088
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
  2089
{
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
    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
  2091
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2092
    // receive datagrams
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2093
    ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2094
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2095
    // 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
  2096
    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
  2097
        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
  2098
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2099
#ifdef EC_HAVE_CYCLES
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
  2100
        if (master->main_device.cycles_poll - datagram->cycles_sent
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2101
                > timeout_cycles) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2102
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2103
        if (master->main_device.jiffies_poll - datagram->jiffies_sent
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2104
                > timeout_jiffies) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  2105
#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
  2106
            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
  2107
            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
  2108
            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
  2109
            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
  2110
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  2111
            if (unlikely(master->debug_level > 0)) {
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2112
                unsigned int time_us;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2113
#ifdef EC_HAVE_CYCLES
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2114
                time_us = (unsigned int) (master->main_device.cycles_poll -
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2115
                        datagram->cycles_sent) * 1000 / cpu_khz;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2116
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2117
                time_us = (unsigned int) ((master->main_device.jiffies_poll -
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  2118
                            datagram->jiffies_sent) * 1000000 / HZ);
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  2119
#endif
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2120
                EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2121
                        " 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
  2122
                        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
  2123
            }
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
  2124
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2125
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2126
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2127
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2128
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  2129
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2130
void ecrt_master_send_ext(ec_master_t *master)
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2131
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2132
    ec_datagram_t *datagram, *next;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2133
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2134
    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
  2135
            queue) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2136
        list_del(&datagram->queue);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2137
        ec_master_queue_datagram(master, datagram);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2138
    }
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2139
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2140
    ecrt_master_send(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2141
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2142
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2143
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2144
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  2145
/** 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
  2146
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2147
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
  2148
        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
  2149
        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
  2150
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2151
    ec_slave_config_t *sc;
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2152
    unsigned int found = 0;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2153
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2154
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2155
    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
  2156
            " alias = %u, position = %u, vendor_id = 0x%08x,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2157
            " product_code = 0x%08x)\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2158
            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
  2159
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2160
    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
  2161
        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
  2162
            found = 1;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2163
            break;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2164
        }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2165
    }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  2166
1024
fef0b1953770 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1023
diff changeset
  2167
    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
  2168
        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
  2169
            EC_MASTER_ERR(master, "Slave type mismatch. Slave was"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2170
                    " configured as 0x%08X/0x%08X before. Now configuring"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2171
                    " 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
  2172
                    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
  2173
            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
  2174
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2175
    } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2176
        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
  2177
                " 0x%08X/0x%08X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2178
                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
  2179
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2180
        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
  2181
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2182
            EC_MASTER_ERR(master, "Failed to allocate memory"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2183
                    " 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
  2184
            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
  2185
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2186
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
  2187
        ec_slave_config_init(sc, master,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  2188
                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
  2189
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
  2190
        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
  2191
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2192
        // 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
  2193
        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
  2194
        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
  2195
        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
  2196
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
  2197
        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
  2198
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2199
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2200
    return sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2201
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2202
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2203
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2204
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2205
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
  2206
        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
  2207
        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
  2208
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2209
    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
  2210
            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
  2211
    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
  2212
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2213
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2214
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  2215
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2216
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
  2217
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2218
    EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2219
            " 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
  2220
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2221
    master_info->slave_count = master->slave_count;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2222
    master_info->link_up = master->main_device.link_state;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2223
    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
  2224
    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
  2225
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2226
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2227
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2228
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2229
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2230
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
  2231
        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
  2232
{
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2233
    const ec_slave_t *slave;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2234
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2235
    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
  2236
        return -EINTR;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2237
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2238
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2239
    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
  2240
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2241
    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
  2242
    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
  2243
    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
  2244
    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
  2245
    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
  2246
    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
  2247
    slave_info->current_on_ebus = slave->sii.current_on_ebus;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2248
    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
  2249
    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
  2250
    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
  2251
    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
  2252
    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
  2253
        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
  2254
    } else {
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2255
        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
  2256
    }
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2257
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2258
    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
  2259
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2260
    return 0;
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2261
}
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2262
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2263
/*****************************************************************************/
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1586
diff changeset
  2264
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2265
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
  2266
        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
  2267
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1914
diff changeset
  2268
    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
  2269
            " 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
  2270
            master, send_cb, receive_cb, cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2271
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2272
    master->app_send_cb = send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2273
    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
  2274
    master->app_cb_data = cb_data;
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2275
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2276
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2277
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2278
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2279
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
  2280
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2281
    state->slaves_responding = master->fsm.slaves_responding;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1018
diff changeset
  2282
    state->al_states = master->fsm.slave_states;
1018
e068da25639d Completed master states.
Richard Hacker <ha@igh-essen.com>
parents: 1015
diff changeset
  2283
    state->link_up = master->main_device.link_state;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2284
}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2285
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2286
/*****************************************************************************/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2287
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2288
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
  2289
{
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2290
    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
  2291
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
  2292
    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
  2293
        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
  2294
        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
  2295
    }
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2296
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2297
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2298
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2299
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2300
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
  2301
{
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2302
    EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2303
    ec_master_queue_datagram(master, &master->ref_sync_datagram);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2304
}
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2305
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2306
/*****************************************************************************/
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2307
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2308
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
  2309
{
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2310
    ec_datagram_zero(&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
  2311
    ec_master_queue_datagram(master, &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
  2312
}
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2313
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2314
/*****************************************************************************/
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2315
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2316
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
  2317
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2318
    ec_datagram_zero(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2319
    ec_master_queue_datagram(master, &master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2320
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2321
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2322
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2323
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2324
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
  2325
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2326
    if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2327
        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
  2328
    } else {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2329
        return 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2330
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2331
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2332
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2333
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2334
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2335
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2336
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2337
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2338
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
  2339
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
  2340
EXPORT_SYMBOL(ecrt_master_send);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2341
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
  2342
EXPORT_SYMBOL(ecrt_master_receive);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  2343
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
  2344
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
  2345
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
  2346
EXPORT_SYMBOL(ecrt_master_slave_config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2347
EXPORT_SYMBOL(ecrt_master_state);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2348
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
  2349
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
  2350
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2351
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2352
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  2353
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2354
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2355
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2356
/*****************************************************************************/