author | Florian Pose <fp@igh-essen.com> |
Thu, 20 Apr 2006 14:38:41 +0000 | |
branch | stable-1.0 |
changeset 1617 | 9f83a343ae75 |
parent 195 | 674071846ee3 |
child 197 | b9a6e2c22745 |
child 1618 | 5cff10efb927 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* m a s t e r . c |
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* EtherCAT master methods. |
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* |
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* $Id$ |
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* |
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*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/kernel.h> |
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#include <linux/string.h> |
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#include <linux/slab.h> |
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#include <linux/delay.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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#include "master.h" |
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#include "slave.h" |
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#include "types.h" |
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#include "device.h" |
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#include "command.h" |
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#include "ethernet.h" |
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/*****************************************************************************/ |
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void ec_master_freerun(unsigned long); |
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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *); |
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void ec_master_process_watch_command(ec_master_t *); |
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/*****************************************************************************/ |
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EC_SYSFS_READ_ATTR(slave_count); |
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EC_SYSFS_READ_ATTR(mode); |
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static struct attribute *ec_def_attrs[] = { |
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&attr_slave_count, |
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&attr_mode, |
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NULL, |
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}; |
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static struct sysfs_ops ec_sysfs_ops = { |
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.show = &ec_show_master_attribute, |
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.store = NULL |
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}; |
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static struct kobj_type ktype_ec_master = { |
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.release = ec_master_clear, |
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.sysfs_ops = &ec_sysfs_ops, |
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.default_attrs = ec_def_attrs |
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}; |
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/*****************************************************************************/ |
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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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) |
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{ |
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EC_INFO("Initializing master %i.\n", index); |
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master->index = index; |
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master->device = NULL; |
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master->reserved = 0; |
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INIT_LIST_HEAD(&master->slaves); |
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INIT_LIST_HEAD(&master->command_queue); |
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INIT_LIST_HEAD(&master->domains); |
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INIT_LIST_HEAD(&master->eoe_slaves); |
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// init kobject and add it to the hierarchy |
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memset(&master->kobj, 0x00, sizeof(struct kobject)); |
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kobject_init(&master->kobj); |
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master->kobj.ktype = &ktype_ec_master; |
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if (kobject_set_name(&master->kobj, "ethercat%i", index)) { |
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EC_ERR("Failed to set kobj name.\n"); |
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kobject_put(&master->kobj); |
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return -1; |
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} |
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// init freerun timer |
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init_timer(&master->freerun_timer); |
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master->freerun_timer.function = ec_master_freerun; |
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master->freerun_timer.data = (unsigned long) master; |
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ec_command_init(&master->simple_command); |
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ec_command_init(&master->watch_command); |
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ec_master_reset(master); |
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return 0; |
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} |
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/*****************************************************************************/ |
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/** |
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Master destructor. |
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Removes all pending commands, clears the slave list, clears all domains |
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and frees the device. |
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*/ |
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void ec_master_clear(struct kobject *kobj /**< kobject of the master */) |
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{ |
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ec_master_t *master = container_of(kobj, ec_master_t, kobj); |
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EC_INFO("Clearing master %i...\n", master->index); |
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del_timer_sync(&master->freerun_timer); |
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ec_master_reset(master); |
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if (master->device) { |
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ec_device_clear(master->device); |
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kfree(master->device); |
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} |
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ec_command_clear(&master->simple_command); |
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ec_command_clear(&master->watch_command); |
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EC_INFO("Master %i cleared.\n", master->index); |
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} |
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/*****************************************************************************/ |
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/** |
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Resets the master. |
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Note: This function has to be called, everytime ec_master_release() is |
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called, to free the slave list, domains etc. |
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*/ |
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134 |
|
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void ec_master_reset(ec_master_t *master /**< EtherCAT master */) |
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{ |
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ec_slave_t *slave, *next_s; |
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ec_command_t *command, *next_c; |
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ec_domain_t *domain, *next_d; |
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ec_eoe_t *eoe, *next_eoe; |
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141 |
|
191 | 142 |
ec_master_freerun_stop(master); |
143 |
||
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// remove all slaves |
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list_for_each_entry_safe(slave, next_s, &master->slaves, list) { |
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list_del(&slave->list); |
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kobject_del(&slave->kobj); |
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kobject_put(&slave->kobj); |
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} |
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master->slave_count = 0; |
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|
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// empty command queue |
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list_for_each_entry_safe(command, next_c, &master->command_queue, queue) { |
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list_del_init(&command->queue); |
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command->state = EC_CMD_ERROR; |
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} |
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|
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// clear domains |
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list_for_each_entry_safe(domain, next_d, &master->domains, list) { |
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list_del(&domain->list); |
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kobject_del(&domain->kobj); |
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kobject_put(&domain->kobj); |
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} |
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|
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// clear EoE objects |
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list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) { |
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list_del(&eoe->list); |
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ec_eoe_clear(eoe); |
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kfree(eoe); |
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} |
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|
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master->command_index = 0; |
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master->debug_level = 0; |
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master->timeout = 500; // 500us |
130 | 175 |
|
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master->slaves_responding = 0; |
|
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master->slave_states = EC_SLAVE_STATE_UNKNOWN; |
|
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master->stats.timeouts = 0; |
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master->stats.delayed = 0; |
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master->stats.corrupted = 0; |
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master->stats.unmatched = 0; |
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master->stats.eoe_errors = 0; |
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master->stats.t_last = 0; |
191 | 185 |
|
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master->mode = EC_MASTER_MODE_IDLE; |
|
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} |
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/*****************************************************************************/ |
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|
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/** |
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Places a command in the command queue. |
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*/ |
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void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */ |
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ec_command_t *command /**< command */ |
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) |
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{ |
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ec_command_t *queued_command; |
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// check, if the command is already queued |
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list_for_each_entry(queued_command, &master->command_queue, queue) { |
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if (queued_command == command) { |
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command->state = EC_CMD_QUEUED; |
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if (unlikely(master->debug_level)) |
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EC_WARN("command already queued.\n"); |
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return; |
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} |
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} |
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|
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list_add_tail(&command->queue, &master->command_queue); |
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command->state = EC_CMD_QUEUED; |
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} |
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/*****************************************************************************/ |
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/** |
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Sends the commands in the queue. |
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\return 0 in case of success, else < 0 |
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*/ |
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void ec_master_send_commands(ec_master_t *master /**< EtherCAT master */) |
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{ |
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ec_command_t *command; |
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size_t command_size; |
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uint8_t *frame_data, *cur_data; |
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void *follows_word; |
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cycles_t start = 0, end; |
176 | 229 |
unsigned int frame_count, more_commands_waiting; |
230 |
||
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frame_count = 0; |
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if (unlikely(master->debug_level > 0)) { |
176 | 234 |
EC_DBG("ec_master_send_commands\n"); |
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start = get_cycles(); |
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} |
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|
176 | 238 |
do { |
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// fetch pointer to transmit socket buffer |
176 | 240 |
frame_data = ec_device_tx_data(master->device); |
241 |
cur_data = frame_data + EC_FRAME_HEADER_SIZE; |
|
242 |
follows_word = NULL; |
|
243 |
more_commands_waiting = 0; |
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// fill current frame with commands |
176 | 246 |
list_for_each_entry(command, &master->command_queue, queue) { |
247 |
if (command->state != EC_CMD_QUEUED) continue; |
|
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// does the current command fit in the frame? |
176 | 250 |
command_size = EC_COMMAND_HEADER_SIZE + command->data_size |
251 |
+ EC_COMMAND_FOOTER_SIZE; |
|
252 |
if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) { |
|
253 |
more_commands_waiting = 1; |
|
254 |
break; |
|
255 |
} |
|
256 |
||
257 |
command->state = EC_CMD_SENT; |
|
258 |
command->index = master->command_index++; |
|
259 |
||
260 |
if (unlikely(master->debug_level > 0)) |
|
261 |
EC_DBG("adding command 0x%02X\n", command->index); |
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262 |
||
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// set "command following" flag in previous frame |
176 | 264 |
if (follows_word) |
265 |
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000); |
|
266 |
||
267 |
// EtherCAT command header |
|
268 |
EC_WRITE_U8 (cur_data, command->type); |
|
269 |
EC_WRITE_U8 (cur_data + 1, command->index); |
|
270 |
EC_WRITE_U32(cur_data + 2, command->address.logical); |
|
271 |
EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF); |
|
272 |
EC_WRITE_U16(cur_data + 8, 0x0000); |
|
273 |
follows_word = cur_data + 6; |
|
274 |
cur_data += EC_COMMAND_HEADER_SIZE; |
|
275 |
||
276 |
// EtherCAT command data |
|
277 |
memcpy(cur_data, command->data, command->data_size); |
|
278 |
cur_data += command->data_size; |
|
279 |
||
280 |
// EtherCAT command footer |
|
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EC_WRITE_U16(cur_data, 0x0000); // reset working counter |
176 | 282 |
cur_data += EC_COMMAND_FOOTER_SIZE; |
283 |
} |
|
284 |
||
285 |
if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) { |
|
286 |
if (unlikely(master->debug_level > 0)) |
|
287 |
EC_DBG("nothing to send.\n"); |
|
288 |
break; |
|
289 |
} |
|
290 |
||
291 |
// EtherCAT frame header |
|
292 |
EC_WRITE_U16(frame_data, ((cur_data - frame_data |
|
293 |
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000); |
|
294 |
||
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// pad frame |
176 | 296 |
while (cur_data - frame_data < EC_MIN_FRAME_SIZE) |
297 |
EC_WRITE_U8(cur_data++, 0x00); |
|
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|
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if (unlikely(master->debug_level > 0)) |
176 | 300 |
EC_DBG("frame size: %i\n", cur_data - frame_data); |
301 |
||
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// send frame |
176 | 303 |
ec_device_send(master->device, cur_data - frame_data); |
304 |
frame_count++; |
|
305 |
} |
|
306 |
while (more_commands_waiting); |
|
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307 |
|
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if (unlikely(master->debug_level > 0)) { |
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end = get_cycles(); |
176 | 310 |
EC_DBG("ec_master_send_commands sent %i frames in %ius.\n", |
311 |
frame_count, (u32) (end - start) * 1000 / cpu_khz); |
|
312 |
} |
|
313 |
} |
|
314 |
||
315 |
/*****************************************************************************/ |
|
316 |
||
317 |
/** |
|
318 |
Processes a received frame. |
|
319 |
This function is called by the network driver for every received frame. |
|
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\return 0 in case of success, else < 0 |
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321 |
*/ |
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322 |
|
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323 |
void ec_master_receive(ec_master_t *master, /**< EtherCAT master */ |
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const uint8_t *frame_data, /**< received data */ |
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size_t size /**< size of the received data */ |
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326 |
) |
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{ |
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size_t frame_size, data_size; |
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uint8_t command_type, command_index; |
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unsigned int cmd_follows, matched; |
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const uint8_t *cur_data; |
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ec_command_t *command; |
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333 |
|
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if (unlikely(size < EC_FRAME_HEADER_SIZE)) { |
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master->stats.corrupted++; |
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ec_master_output_stats(master); |
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return; |
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338 |
} |
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339 |
|
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cur_data = frame_data; |
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341 |
|
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342 |
// check length of entire frame |
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frame_size = EC_READ_U16(cur_data) & 0x07FF; |
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cur_data += EC_FRAME_HEADER_SIZE; |
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345 |
|
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if (unlikely(frame_size > size)) { |
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master->stats.corrupted++; |
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ec_master_output_stats(master); |
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349 |
return; |
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350 |
} |
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351 |
|
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352 |
cmd_follows = 1; |
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353 |
while (cmd_follows) { |
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354 |
// process command header |
98
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355 |
command_type = EC_READ_U8 (cur_data); |
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356 |
command_index = EC_READ_U8 (cur_data + 1); |
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357 |
data_size = EC_READ_U16(cur_data + 6) & 0x07FF; |
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358 |
cmd_follows = EC_READ_U16(cur_data + 6) & 0x8000; |
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359 |
cur_data += EC_COMMAND_HEADER_SIZE; |
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360 |
|
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361 |
if (unlikely(cur_data - frame_data |
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362 |
+ data_size + EC_COMMAND_FOOTER_SIZE > size)) { |
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363 |
master->stats.corrupted++; |
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364 |
ec_master_output_stats(master); |
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365 |
return; |
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366 |
} |
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367 |
|
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368 |
// search for matching command in the queue |
98
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369 |
matched = 0; |
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370 |
list_for_each_entry(command, &master->command_queue, queue) { |
98
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371 |
if (command->state == EC_CMD_SENT |
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372 |
&& command->type == command_type |
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373 |
&& command->index == command_index |
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374 |
&& command->data_size == data_size) { |
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375 |
matched = 1; |
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376 |
break; |
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377 |
} |
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378 |
} |
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379 |
|
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380 |
// no matching command was found |
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381 |
if (!matched) { |
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382 |
master->stats.unmatched++; |
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383 |
ec_master_output_stats(master); |
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384 |
cur_data += data_size + EC_COMMAND_FOOTER_SIZE; |
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385 |
continue; |
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386 |
} |
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387 |
|
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388 |
// copy received data in the command memory |
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389 |
memcpy(command->data, cur_data, data_size); |
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390 |
cur_data += data_size; |
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391 |
|
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392 |
// set the command's working counter |
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393 |
command->working_counter = EC_READ_U16(cur_data); |
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394 |
cur_data += EC_COMMAND_FOOTER_SIZE; |
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395 |
|
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396 |
// dequeue the received command |
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397 |
command->state = EC_CMD_RECEIVED; |
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list_del_init(&command->queue); |
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399 |
} |
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400 |
} |
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401 |
|
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402 |
/*****************************************************************************/ |
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403 |
|
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404 |
/** |
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405 |
Sends a single command and waits for its reception. |
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|
406 |
If the slave doesn't respond, the command is sent again. |
674071846ee3
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191
diff
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|
407 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
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191
diff
changeset
|
408 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
409 |
|
674071846ee3
Translated all comments and documentation to english language.
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diff
changeset
|
410 |
int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */ |
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191
diff
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|
411 |
ec_command_t *command /**< command */ |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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144
diff
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|
412 |
) |
98
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diff
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|
413 |
{ |
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95
diff
changeset
|
414 |
unsigned int response_tries_left; |
f564d0929292
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parents:
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diff
changeset
|
415 |
|
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diff
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|
416 |
response_tries_left = 10; |
113 | 417 |
|
418 |
while (1) |
|
98
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diff
changeset
|
419 |
{ |
f564d0929292
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diff
changeset
|
420 |
ec_master_queue_command(master, command); |
104
052bc82d5442
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101
diff
changeset
|
421 |
ecrt_master_sync_io(master); |
98
f564d0929292
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diff
changeset
|
422 |
|
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diff
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|
423 |
if (command->state == EC_CMD_RECEIVED) { |
113 | 424 |
if (likely(command->working_counter)) |
425 |
return 0; |
|
98
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diff
changeset
|
426 |
} |
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diff
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|
427 |
else if (command->state == EC_CMD_TIMEOUT) { |
104
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diff
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|
428 |
EC_ERR("Simple-IO TIMEOUT!\n"); |
98
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diff
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|
429 |
return -1; |
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diff
changeset
|
430 |
} |
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diff
changeset
|
431 |
else if (command->state == EC_CMD_ERROR) { |
104
052bc82d5442
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diff
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|
432 |
EC_ERR("Simple-IO command error!\n"); |
98
f564d0929292
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diff
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|
433 |
return -1; |
f564d0929292
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diff
changeset
|
434 |
} |
104
052bc82d5442
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parents:
101
diff
changeset
|
435 |
|
195
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parents:
191
diff
changeset
|
436 |
// no direct response, wait a little bit... |
130 | 437 |
udelay(100); |
113 | 438 |
|
439 |
if (unlikely(--response_tries_left)) { |
|
440 |
EC_ERR("No response in simple-IO!\n"); |
|
441 |
return -1; |
|
442 |
} |
|
443 |
} |
|
98
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changeset
|
444 |
} |
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parents:
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diff
changeset
|
445 |
|
f564d0929292
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parents:
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diff
changeset
|
446 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
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diff
changeset
|
447 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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95
diff
changeset
|
448 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
449 |
Scans the EtherCAT bus for slaves. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
450 |
Creates a list of slave structures for further processing. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
451 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
452 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
453 |
|
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
454 |
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */) |
98
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MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
455 |
{ |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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parents:
179
diff
changeset
|
456 |
ec_slave_t *slave, *next; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
457 |
ec_slave_ident_t *ident; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
458 |
unsigned int i; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
459 |
ec_command_t *command; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
460 |
ec_eoe_t *eoe; |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
461 |
uint16_t coupler_index, coupler_subindex; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
462 |
uint16_t reverse_coupler_index, current_coupler_index; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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parents:
179
diff
changeset
|
463 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
464 |
if (!list_empty(&master->slaves)) { |
90 | 465 |
EC_ERR("Slave scan already done!\n"); |
466 |
return -1; |
|
467 |
} |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
468 |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
469 |
command = &master->simple_command; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
470 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
471 |
// determine number of slaves on bus |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
472 |
if (ec_command_brd(command, 0x0000, 4)) return -1; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
473 |
if (unlikely(ec_master_simple_io(master, command))) return -1; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
474 |
master->slave_count = command->working_counter; |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
475 |
EC_INFO("Found %i slaves on bus.\n", master->slave_count); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
476 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
477 |
if (!master->slave_count) return 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
478 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
479 |
// init slaves |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
480 |
for (i = 0; i < master->slave_count; i++) { |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
481 |
if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
482 |
EC_ERR("Failed to allocate slave %i!\n", i); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
483 |
goto out_free; |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
484 |
} |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
485 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
486 |
if (ec_slave_init(slave, master, i, i + 1)) goto out_free; |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
487 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
488 |
if (kobject_add(&slave->kobj)) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
489 |
EC_ERR("Failed to add kobject.\n"); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
490 |
kobject_put(&slave->kobj); // free |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
491 |
goto out_free; |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
492 |
} |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
493 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
494 |
list_add_tail(&slave->list, &master->slaves); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
495 |
} |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
496 |
|
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
497 |
coupler_index = 0; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
498 |
reverse_coupler_index = 0xFFFF; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
499 |
current_coupler_index = 0x3FFF; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
500 |
coupler_subindex = 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
501 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
502 |
// for every slave on the bus |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
503 |
list_for_each_entry(slave, &master->slaves, list) { |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
504 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
505 |
// write station address |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
506 |
if (ec_command_apwr(command, slave->ring_position, 0x0010, |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
507 |
sizeof(uint16_t))) goto out_free; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
508 |
EC_WRITE_U16(command->data, slave->station_address); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
509 |
if (unlikely(ec_master_simple_io(master, command))) { |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
510 |
EC_ERR("Writing station address failed on slave %i!\n", |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
511 |
slave->ring_position); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
512 |
goto out_free; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
513 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
514 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
515 |
// fetch all slave information |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
516 |
if (ec_slave_fetch(slave)) goto out_free; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
517 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
518 |
// search for identification in "database" |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
519 |
ident = slave_idents; |
129
67b6e534db4b
Bugfix: Absturz bei unbekannter Klemme.
Florian Pose <fp@igh-essen.com>
parents:
120
diff
changeset
|
520 |
while (ident->type) { |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
521 |
if (unlikely(ident->vendor_id == slave->sii_vendor_id |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
522 |
&& ident->product_code == slave->sii_product_code)) { |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
523 |
slave->type = ident->type; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
524 |
break; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
525 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
526 |
ident++; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
527 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
528 |
|
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
529 |
if (!slave->type) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
530 |
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at" |
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
531 |
" position %i.\n", slave->sii_vendor_id, |
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
532 |
slave->sii_product_code, i); |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
533 |
} |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
534 |
else if (slave->type->special == EC_TYPE_BUS_COUPLER) { |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
535 |
if (slave->sii_alias) |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
536 |
current_coupler_index = reverse_coupler_index--; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
537 |
else |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
538 |
current_coupler_index = coupler_index++; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
539 |
coupler_subindex = 0; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
540 |
} |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
541 |
|
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
542 |
slave->coupler_index = current_coupler_index; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
543 |
slave->coupler_subindex = coupler_subindex; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
544 |
coupler_subindex++; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
545 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
546 |
// does the slave support EoE? |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
547 |
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) { |
161
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
548 |
if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) { |
ddb7266d1c56
Bugfix: Discovered memory leak.
Florian Pose <fp@igh-essen.com>
parents:
155
diff
changeset
|
549 |
EC_ERR("Failed to allocate EoE-Object.\n"); |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
550 |
goto out_free; |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
551 |
} |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
552 |
|
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
553 |
ec_eoe_init(eoe, slave); |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
554 |
list_add_tail(&eoe->list, &master->eoe_slaves); |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
555 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
556 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
557 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
558 |
return 0; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
559 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
560 |
out_free: |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
561 |
list_for_each_entry_safe(slave, next, &master->slaves, list) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
562 |
list_del(&slave->list); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
563 |
kobject_del(&slave->kobj); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
564 |
kobject_put(&slave->kobj); |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
565 |
} |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
566 |
return -1; |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
567 |
} |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
568 |
|
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
569 |
/*****************************************************************************/ |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
570 |
|
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
571 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
572 |
Output statistics in cyclic mode. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
573 |
This function outputs statistical data on demand, but not more often than |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
574 |
necessary. The output happens at most once a second. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
575 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
576 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
577 |
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
|
578 |
{ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
579 |
cycles_t t_now = get_cycles(); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
580 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
581 |
if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
582 |
if (master->stats.timeouts) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
583 |
EC_WARN("%i commands TIMED OUT!\n", master->stats.timeouts); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
584 |
master->stats.timeouts = 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
585 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
586 |
if (master->stats.delayed) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
587 |
EC_WARN("%i frame(s) DELAYED!\n", master->stats.delayed); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
588 |
master->stats.delayed = 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
589 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
590 |
if (master->stats.corrupted) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
591 |
EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
592 |
master->stats.corrupted = 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
593 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
594 |
if (master->stats.unmatched) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
595 |
EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
596 |
master->stats.unmatched = 0; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
597 |
} |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
598 |
if (master->stats.eoe_errors) { |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
599 |
EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors); |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
600 |
master->stats.eoe_errors = 0; |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
601 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
602 |
master->stats.t_last = t_now; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
603 |
} |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
604 |
} |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
605 |
|
68
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
606 |
/*****************************************************************************/ |
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
607 |
|
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
608 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
609 |
Starts the Free-Run mode. |
191 | 610 |
*/ |
611 |
||
612 |
void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */) |
|
613 |
{ |
|
614 |
if (master->mode == EC_MASTER_MODE_FREERUN) return; |
|
615 |
||
616 |
if (master->mode == EC_MASTER_MODE_RUNNING) { |
|
617 |
EC_ERR("ec_master_freerun_start: Master already running!\n"); |
|
618 |
return; |
|
619 |
} |
|
620 |
||
621 |
EC_INFO("Starting Free-Run mode.\n"); |
|
622 |
||
623 |
master->mode = EC_MASTER_MODE_FREERUN; |
|
624 |
||
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
625 |
if (master->watch_command.state == EC_CMD_INIT) { |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
626 |
if (ec_command_brd(&master->watch_command, 0x130, 2)) { |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
627 |
EC_ERR("Failed to allocate watchdog command!\n"); |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
628 |
return; |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
629 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
630 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
631 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
632 |
ecrt_master_prepare_async_io(master); |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
633 |
|
191 | 634 |
master->freerun_timer.expires = jiffies + 10; |
635 |
add_timer(&master->freerun_timer); |
|
636 |
} |
|
637 |
||
638 |
/*****************************************************************************/ |
|
639 |
||
640 |
/** |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
641 |
Stops the Free-Run mode. |
191 | 642 |
*/ |
643 |
||
644 |
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */) |
|
645 |
{ |
|
646 |
if (master->mode != EC_MASTER_MODE_FREERUN) return; |
|
647 |
||
648 |
EC_INFO("Stopping Free-Run mode.\n"); |
|
649 |
||
650 |
del_timer_sync(&master->freerun_timer); |
|
651 |
master->mode = EC_MASTER_MODE_IDLE; |
|
652 |
} |
|
653 |
||
654 |
/*****************************************************************************/ |
|
655 |
||
656 |
/** |
|
657 |
Free-Run mode function. |
|
658 |
*/ |
|
659 |
||
195
674071846ee3
Translated all comments and documentation to english language.
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191
diff
changeset
|
660 |
void ec_master_freerun(unsigned long data /**< private timer data = master */) |
191 | 661 |
{ |
662 |
ec_master_t *master = (ec_master_t *) data; |
|
663 |
||
195
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191
diff
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|
664 |
ecrt_master_async_receive(master); |
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parents:
191
diff
changeset
|
665 |
|
674071846ee3
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Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
666 |
// watchdog command |
674071846ee3
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Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
667 |
ec_master_process_watch_command(master); |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
668 |
ec_master_queue_command(master, &master->watch_command); |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
669 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
670 |
master->slave_count = master->watch_command.working_counter; |
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parents:
191
diff
changeset
|
671 |
|
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
672 |
ecrt_master_async_send(master); |
191 | 673 |
|
674 |
master->freerun_timer.expires += HZ; |
|
675 |
add_timer(&master->freerun_timer); |
|
676 |
} |
|
677 |
||
678 |
/*****************************************************************************/ |
|
679 |
||
680 |
/** |
|
195
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diff
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|
681 |
Translates an ASCII coded bus-address to a slave pointer. |
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191
diff
changeset
|
682 |
These are the valid addressing schemes: |
674071846ee3
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parents:
191
diff
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|
683 |
- \a "X" = the X. slave on the bus, |
674071846ee3
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parents:
191
diff
changeset
|
684 |
- \a "X:Y" = the Y. slave after the X. branch (bus coupler), |
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191
diff
changeset
|
685 |
- \a "#X" = the slave with alias X, |
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parents:
191
diff
changeset
|
686 |
- \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X. |
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parents:
191
diff
changeset
|
687 |
X and Y are zero-based indices and may be provided in hexadecimal or octal |
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191
diff
changeset
|
688 |
notation (with respective prefix). |
674071846ee3
Translated all comments and documentation to english language.
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191
diff
changeset
|
689 |
\return pointer to the slave on success, else NULL |
68
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
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66
diff
changeset
|
690 |
*/ |
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
691 |
|
138
7e743a61a991
SDO-Schnittstelle verbessert.
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136
diff
changeset
|
692 |
ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */ |
195
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191
diff
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|
693 |
const char *address /**< address string */ |
138
7e743a61a991
SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents:
136
diff
changeset
|
694 |
) |
68
a452700db994
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parents:
66
diff
changeset
|
695 |
{ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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68
diff
changeset
|
696 |
unsigned long first, second; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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68
diff
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|
697 |
char *remainder, *remainder2; |
182
8c0bc99229a9
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179
diff
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|
698 |
unsigned int alias_requested, alias_found; |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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179
diff
changeset
|
699 |
ec_slave_t *alias_slave = NULL, *slave; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
700 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
701 |
if (!address || address[0] == 0) return NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
702 |
|
114 | 703 |
alias_requested = 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
704 |
if (address[0] == '#') { |
114 | 705 |
alias_requested = 1; |
706 |
address++; |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
707 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
708 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
709 |
first = simple_strtoul(address, &remainder, 0); |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
710 |
if (remainder == address) { |
114 | 711 |
EC_ERR("Slave address \"%s\" - First number empty!\n", address); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
712 |
return NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
713 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
714 |
|
114 | 715 |
if (alias_requested) { |
716 |
alias_found = 0; |
|
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
717 |
list_for_each_entry(alias_slave, &master->slaves, list) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
718 |
if (alias_slave->sii_alias == first) { |
114 | 719 |
alias_found = 1; |
720 |
break; |
|
721 |
} |
|
722 |
} |
|
723 |
if (!alias_found) { |
|
724 |
EC_ERR("Slave address \"%s\" - Alias not found!\n", address); |
|
725 |
return NULL; |
|
726 |
} |
|
727 |
} |
|
728 |
||
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
729 |
if (!remainder[0]) { // absolute position |
114 | 730 |
if (alias_requested) { |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
731 |
return alias_slave; |
114 | 732 |
} |
733 |
else { |
|
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
734 |
list_for_each_entry(slave, &master->slaves, list) { |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
735 |
if (slave->ring_position == first) return slave; |
114 | 736 |
} |
737 |
EC_ERR("Slave address \"%s\" - Absolute position invalid!\n", |
|
738 |
address); |
|
739 |
} |
|
740 |
} |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
741 |
else if (remainder[0] == ':') { // field position |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
742 |
remainder++; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
743 |
second = simple_strtoul(remainder, &remainder2, 0); |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
744 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
745 |
if (remainder2 == remainder) { |
114 | 746 |
EC_ERR("Slave address \"%s\" - Second number empty!\n", address); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
747 |
return NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
748 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
749 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
750 |
if (remainder2[0]) { |
114 | 751 |
EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
752 |
return NULL; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
753 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
754 |
|
114 | 755 |
if (alias_requested) { |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
756 |
if (!alias_slave->type || |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
757 |
alias_slave->type->special != EC_TYPE_BUS_COUPLER) { |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
758 |
EC_ERR("Slave address \"%s\": Alias slave must be bus coupler" |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
759 |
" in colon mode.\n", address); |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
760 |
return NULL; |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
761 |
} |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
762 |
list_for_each_entry(slave, &master->slaves, list) { |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
763 |
if (slave->coupler_index == alias_slave->coupler_index |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
764 |
&& slave->coupler_subindex == second) |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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parents:
179
diff
changeset
|
765 |
return slave; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
766 |
} |
114 | 767 |
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave" |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
768 |
" following!\n", address, alias_slave->ring_position, |
114 | 769 |
second); |
770 |
return NULL; |
|
771 |
} |
|
772 |
else { |
|
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
773 |
list_for_each_entry(slave, &master->slaves, list) { |
188
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
774 |
if (slave->coupler_index == first |
c0e49f4a1c07
Better calc. of coupler address; coupler address in SysFS; better output of ec_list
Florian Pose <fp@igh-essen.com>
parents:
184
diff
changeset
|
775 |
&& slave->coupler_subindex == second) return slave; |
114 | 776 |
} |
777 |
} |
|
778 |
} |
|
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
779 |
else |
114 | 780 |
EC_ERR("Slave address \"%s\" - Invalid format!\n", address); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
781 |
|
68
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
66
diff
changeset
|
782 |
return NULL; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
783 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
784 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
785 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
786 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
787 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
788 |
Initializes a sync manager configuration page. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
789 |
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
790 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
791 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
792 |
void ec_sync_config(const ec_sync_t *sync, /**< sync manager */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
793 |
uint8_t *data /**> configuration memory */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
794 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
795 |
{ |
77
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
796 |
EC_WRITE_U16(data, sync->physical_start_address); |
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
797 |
EC_WRITE_U16(data + 2, sync->size); |
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
798 |
EC_WRITE_U8 (data + 4, sync->control_byte); |
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
799 |
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) |
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
800 |
EC_WRITE_U16(data + 6, 0x0001); // enable |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
801 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
802 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
803 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
804 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
805 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
806 |
Initializes a sync manager configuration page with EEPROM data. |
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
807 |
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes. |
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
808 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
809 |
|
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
810 |
void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */ |
674071846ee3
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parents:
191
diff
changeset
|
811 |
uint8_t *data /**> configuration memory */ |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
812 |
) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
813 |
{ |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
814 |
EC_WRITE_U16(data, sync->physical_start_address); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
815 |
EC_WRITE_U16(data + 2, sync->length); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
816 |
EC_WRITE_U8 (data + 4, sync->control_register); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
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diff
changeset
|
817 |
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
818 |
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
819 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
820 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
821 |
/*****************************************************************************/ |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
822 |
|
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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parents:
135
diff
changeset
|
823 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
824 |
Initializes an FMMU configuration page. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
825 |
The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
826 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
827 |
|
674071846ee3
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Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
828 |
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */ |
674071846ee3
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parents:
191
diff
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|
829 |
uint8_t *data /**> configuration memory */ |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents:
68
diff
changeset
|
830 |
) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
831 |
{ |
77
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
832 |
EC_WRITE_U32(data, fmmu->logical_start_address); |
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
833 |
EC_WRITE_U16(data + 4, fmmu->sync->size); |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
834 |
EC_WRITE_U8 (data + 6, 0x00); // logical start bit |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
835 |
EC_WRITE_U8 (data + 7, 0x07); // logical end bit |
77
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
836 |
EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address); |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
837 |
EC_WRITE_U8 (data + 10, 0x00); // physical start bit |
77
677967864795
EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet.
Florian Pose <fp@igh-essen.com>
parents:
74
diff
changeset
|
838 |
EC_WRITE_U8 (data + 11, (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01); |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
839 |
EC_WRITE_U16(data + 12, 0x0001); // enable |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
840 |
EC_WRITE_U16(data + 14, 0x0000); // reserved |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
841 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
842 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
843 |
/*****************************************************************************/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
844 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
845 |
/** |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
846 |
Formats attribute data for SysFS read access. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
847 |
\return number of bytes to read |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
848 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
849 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
850 |
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
851 |
struct attribute *attr, /**< attribute */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
852 |
char *buffer /**< memory to store data */ |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
853 |
) |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
854 |
{ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
855 |
ec_master_t *master = container_of(kobj, ec_master_t, kobj); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
856 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
857 |
if (attr == &attr_slave_count) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
858 |
return sprintf(buffer, "%i\n", master->slave_count); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
859 |
} |
191 | 860 |
else if (attr == &attr_mode) { |
861 |
switch (master->mode) { |
|
862 |
case EC_MASTER_MODE_IDLE: |
|
863 |
return sprintf(buffer, "IDLE\n"); |
|
864 |
case EC_MASTER_MODE_FREERUN: |
|
865 |
return sprintf(buffer, "FREERUN\n"); |
|
866 |
case EC_MASTER_MODE_RUNNING: |
|
867 |
return sprintf(buffer, "RUNNING\n"); |
|
868 |
} |
|
869 |
} |
|
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
176
diff
changeset
|
870 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
871 |
return 0; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
872 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
873 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
874 |
/*****************************************************************************/ |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
176
diff
changeset
|
875 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
876 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
877 |
Processes the watchdog command. |
130 | 878 |
*/ |
879 |
||
880 |
void ec_master_process_watch_command(ec_master_t *master |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
881 |
/**< EtherCAT master */ |
130 | 882 |
) |
883 |
{ |
|
884 |
unsigned int first; |
|
885 |
||
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
886 |
if (unlikely(master->watch_command.state == EC_CMD_INIT)) return; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
887 |
|
130 | 888 |
first = 1; |
889 |
||
890 |
if (master->watch_command.working_counter != master->slaves_responding || |
|
891 |
master->watch_command.data[0] != master->slave_states) |
|
892 |
{ |
|
893 |
master->slaves_responding = master->watch_command.working_counter; |
|
894 |
master->slave_states = master->watch_command.data[0]; |
|
895 |
||
896 |
EC_INFO("%i slave%s responding (", master->slaves_responding, |
|
897 |
master->slaves_responding == 1 ? "" : "s"); |
|
898 |
||
899 |
if (master->slave_states & EC_SLAVE_STATE_INIT) { |
|
900 |
printk("INIT"); |
|
901 |
first = 0; |
|
902 |
} |
|
903 |
if (master->slave_states & EC_SLAVE_STATE_PREOP) { |
|
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
130
diff
changeset
|
904 |
if (!first) printk(", "); |
130 | 905 |
printk("PREOP"); |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
130
diff
changeset
|
906 |
first = 0; |
130 | 907 |
} |
908 |
if (master->slave_states & EC_SLAVE_STATE_SAVEOP) { |
|
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
130
diff
changeset
|
909 |
if (!first) printk(", "); |
130 | 910 |
printk("SAVEOP"); |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
130
diff
changeset
|
911 |
first = 0; |
130 | 912 |
} |
913 |
if (master->slave_states & EC_SLAVE_STATE_OP) { |
|
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
130
diff
changeset
|
914 |
if (!first) printk(", "); |
130 | 915 |
printk("OP"); |
916 |
} |
|
917 |
printk(")\n"); |
|
918 |
} |
|
919 |
} |
|
920 |
||
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
921 |
/****************************************************************************** |
195
674071846ee3
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parents:
191
diff
changeset
|
922 |
* Realtime interface |
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
923 |
*****************************************************************************/ |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
924 |
|
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
925 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
926 |
Creates a domain. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
927 |
\return pointer to new domain on success, else NULL |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
928 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
929 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
930 |
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
931 |
{ |
178
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MERGE branches/sysfs -> trunk (whole SysFS implementation)
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176
diff
changeset
|
932 |
ec_domain_t *domain, *last_domain; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents:
176
diff
changeset
|
933 |
unsigned int index; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
934 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
935 |
if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
936 |
EC_ERR("Error allocating domain memory!\n"); |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
937 |
goto out_return; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
938 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
939 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
940 |
if (list_empty(&master->domains)) index = 0; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
941 |
else { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
942 |
last_domain = list_entry(master->domains.prev, ec_domain_t, list); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
943 |
index = last_domain->index + 1; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
944 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
945 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
946 |
if (ec_domain_init(domain, master, index)) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
947 |
EC_ERR("Failed to init domain.\n"); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
948 |
goto out_return; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
949 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
950 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
951 |
if (kobject_add(&domain->kobj)) { |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
952 |
EC_ERR("Failed to add domain kobject.\n"); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
953 |
goto out_put; |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
954 |
} |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
955 |
|
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
956 |
list_add_tail(&domain->list, &master->domains); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
957 |
return domain; |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
958 |
|
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
959 |
out_put: |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
960 |
kobject_put(&domain->kobj); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
961 |
out_return: |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
176
diff
changeset
|
962 |
return NULL; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
963 |
} |
61
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
964 |
|
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
965 |
/*****************************************************************************/ |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
966 |
|
61
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
967 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
968 |
Configures all slaves and leads them to the OP state. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
969 |
Does the complete configuration and activation for all slaves. Sets sync |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
970 |
managers and FMMUs, and does the appropriate transitions, until the slave |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
971 |
is operational. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
972 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
973 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
974 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
975 |
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
976 |
{ |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
977 |
unsigned int j; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
978 |
ec_slave_t *slave; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
979 |
ec_command_t *command; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
980 |
const ec_sync_t *sync; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
981 |
const ec_slave_type_t *type; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
982 |
const ec_fmmu_t *fmmu; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
983 |
uint32_t domain_offset; |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
984 |
ec_domain_t *domain; |
155
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
985 |
ec_eeprom_sync_t *eeprom_sync, mbox_sync; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
986 |
|
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
987 |
command = &master->simple_command; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
988 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
989 |
if (master->watch_command.state == EC_CMD_INIT) { |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
990 |
if (ec_command_brd(&master->watch_command, 0x130, 2)) { |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
991 |
EC_ERR("Failed to allocate watchdog command!\n"); |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
992 |
return -1; |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
993 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
994 |
} |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
995 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
996 |
// allocate all domains |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
997 |
domain_offset = 0; |
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
998 |
list_for_each_entry(domain, &master->domains, list) { |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
999 |
if (ec_domain_alloc(domain, domain_offset)) { |
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
1000 |
EC_ERR("Failed to allocate domain %X!\n", (u32) domain); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1001 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1002 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1003 |
domain_offset += domain->data_size; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1004 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1005 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1006 |
// configure and activate slaves |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1007 |
list_for_each_entry(slave, &master->slaves, list) { |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1008 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1009 |
// change state to INIT |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1010 |
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT))) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1011 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1012 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1013 |
// check for slave registration |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1014 |
type = slave->type; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1015 |
if (!type) |
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1016 |
EC_WARN("Slave %i has unknown type!\n", slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1017 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1018 |
// check and reset CRC fault counters |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1019 |
ec_slave_check_crc(slave); |
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1020 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1021 |
// reset FMMUs |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1022 |
if (slave->base_fmmu_count) { |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1023 |
if (ec_command_npwr(command, slave->station_address, 0x0600, |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1024 |
EC_FMMU_SIZE * slave->base_fmmu_count)) |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1025 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1026 |
memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1027 |
if (unlikely(ec_master_simple_io(master, command))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1028 |
EC_ERR("Resetting FMMUs failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
1029 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1030 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1031 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1032 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1033 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1034 |
// reset sync managers |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1035 |
if (slave->base_sync_count) { |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1036 |
if (ec_command_npwr(command, slave->station_address, 0x0800, |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1037 |
EC_SYNC_SIZE * slave->base_sync_count)) |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1038 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1039 |
memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1040 |
if (unlikely(ec_master_simple_io(master, command))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1041 |
EC_ERR("Resetting sync managers failed on slave %i!\n", |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
1042 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1043 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1044 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1045 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1046 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1047 |
// configure sync managers |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1048 |
if (type) { // known slave type, take type's SM information |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
1049 |
for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1050 |
sync = type->sync_managers[j]; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1051 |
if (ec_command_npwr(command, slave->station_address, |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1052 |
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE)) |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1053 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1054 |
ec_sync_config(sync, command->data); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1055 |
if (unlikely(ec_master_simple_io(master, command))) { |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1056 |
EC_ERR("Setting sync manager %i failed on slave %i!\n", |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1057 |
j, slave->ring_position); |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1058 |
return -1; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1059 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1060 |
} |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1061 |
} |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1062 |
else if (slave->sii_mailbox_protocols) { // unknown type, but mailbox |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1063 |
// does the device supply SM configurations in its EEPROM? |
155
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1064 |
if (!list_empty(&slave->eeprom_syncs)) { |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1065 |
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) { |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1066 |
EC_INFO("Sync manager %i...\n", eeprom_sync->index); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1067 |
if (ec_command_npwr(command, slave->station_address, |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1068 |
0x800 + eeprom_sync->index * |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1069 |
EC_SYNC_SIZE, |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1070 |
EC_SYNC_SIZE)) return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1071 |
ec_eeprom_sync_config(eeprom_sync, command->data); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1072 |
if (unlikely(ec_master_simple_io(master, command))) { |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1073 |
EC_ERR("Setting sync manager %i failed on slave %i!\n", |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1074 |
eeprom_sync->index, slave->ring_position); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1075 |
return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1076 |
} |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1077 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1078 |
} |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1079 |
else { // no sync manager information; guess mailbox settings |
155
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1080 |
mbox_sync.physical_start_address = |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1081 |
slave->sii_rx_mailbox_offset; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1082 |
mbox_sync.length = slave->sii_rx_mailbox_size; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1083 |
mbox_sync.control_register = 0x26; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1084 |
mbox_sync.enable = 1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1085 |
if (ec_command_npwr(command, slave->station_address, |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1086 |
0x800,EC_SYNC_SIZE)) return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1087 |
ec_eeprom_sync_config(&mbox_sync, command->data); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1088 |
if (unlikely(ec_master_simple_io(master, command))) { |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1089 |
EC_ERR("Setting sync manager 0 failed on slave %i!\n", |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1090 |
slave->ring_position); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1091 |
return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1092 |
} |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1093 |
|
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1094 |
mbox_sync.physical_start_address = |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1095 |
slave->sii_tx_mailbox_offset; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1096 |
mbox_sync.length = slave->sii_tx_mailbox_size; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1097 |
mbox_sync.control_register = 0x22; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1098 |
mbox_sync.enable = 1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1099 |
if (ec_command_npwr(command, slave->station_address, |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1100 |
0x808, EC_SYNC_SIZE)) return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1101 |
ec_eeprom_sync_config(&mbox_sync, command->data); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1102 |
if (unlikely(ec_master_simple_io(master, command))) { |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1103 |
EC_ERR("Setting sync manager 1 failed on slave %i!\n", |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1104 |
slave->ring_position); |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1105 |
return -1; |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1106 |
} |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1107 |
} |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1108 |
EC_INFO("Mailbox configured for unknown slave %i\n", |
ff65679b65fe
Plugfest: Configure mailbox for unknown slaves.
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
1109 |
slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1110 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1111 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1112 |
// change state to PREOP |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1113 |
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP))) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1114 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1115 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1116 |
// stop activation here for slaves without type |
136
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1117 |
if (!type) continue; |
a03a684cac89
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
Florian Pose <fp@igh-essen.com>
parents:
135
diff
changeset
|
1118 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1119 |
// slaves that are not registered are only brought into PREOP |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1120 |
// state -> nice blinking and mailbox communication possible |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1121 |
if (!slave->registered && !slave->type->special) { |
84
b4ae98855cea
printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
1122 |
EC_WARN("Slave %i was not registered!\n", slave->ring_position); |
81
28b1defdcc88
Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1123 |
continue; |
28b1defdcc88
Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1124 |
} |
28b1defdcc88
Nicht registrierte Slaves in PREOP schalten.
Florian Pose <fp@igh-essen.com>
parents:
77
diff
changeset
|
1125 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1126 |
// configure FMMUs |
164
ed85368b2b2e
AL status code reading after failed state transition.
Florian Pose <fp@igh-essen.com>
parents:
161
diff
changeset
|
1127 |
for (j = 0; j < slave->fmmu_count; j++) { |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1128 |
fmmu = &slave->fmmus[j]; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1129 |
if (ec_command_npwr(command, slave->station_address, |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1130 |
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE)) |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1131 |
return -1; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1132 |
ec_fmmu_config(fmmu, command->data); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
1133 |
if (unlikely(ec_master_simple_io(master, command))) { |
89
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1134 |
EC_ERR("Setting FMMU %i failed on slave %i!\n", |
e91ef35c36db
Wiederholtes Senden, wenn keine Antwort.
Florian Pose <fp@igh-essen.com>
parents:
84
diff
changeset
|
1135 |
j, slave->ring_position); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1136 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1137 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1138 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1139 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1140 |
// change state to SAVEOP |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1141 |
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_SAVEOP))) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1142 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1143 |
|
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
191
diff
changeset
|
1144 |
// change state to OP |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1145 |
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_OP))) |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1146 |
return -1; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1147 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1148 |
|
166
29b19a90ff3f
Better outputs concerning responding slaves.
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
1149 |
master->slaves_responding = 0; |
29b19a90ff3f
Better outputs concerning responding slaves.
Florian Pose <fp@igh-essen.com>
parents:
164
diff
changeset
|
1150 |
master->slave_states = EC_SLAVE_STATE_INIT; |
130 | 1151 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1152 |
return 0; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1153 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1154 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1155 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1156 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1157 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1158 |
Resets all slaves to INIT state. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1159 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1160 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1161 |
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */) |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1162 |
{ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
1163 |
ec_slave_t *slave; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1164 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1165 |
list_for_each_entry(slave, &master->slaves, list) { |
74
9bf603942791
Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
1166 |
ec_slave_check_crc(slave); |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1167 |
ec_slave_state_change(slave, EC_SLAVE_STATE_INIT); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1168 |
} |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1169 |
} |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1170 |
|
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1171 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1172 |
/*****************************************************************************/ |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1173 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1174 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1175 |
Fetches the SDO dictionaries of all slaves. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1176 |
Slaves that do not support the CoE protocol are left out. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1177 |
\return 0 in case of success, else < 0 |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1178 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1179 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1180 |
int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT master */) |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1181 |
{ |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1182 |
ec_slave_t *slave; |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1183 |
|
8c0bc99229a9
Slaves stored in list, slaves in SysFS
Florian Pose <fp@igh-essen.com>
parents:
179
diff
changeset
|
1184 |
list_for_each_entry(slave, &master->slaves, list) { |
135
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1185 |
if (slave->sii_mailbox_protocols & EC_MBOX_COE) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1186 |
if (unlikely(ec_slave_fetch_sdo_list(slave))) { |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1187 |
EC_ERR("Failed to fetch SDO list on slave %i!\n", |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1188 |
slave->ring_position); |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1189 |
return -1; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1190 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1191 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1192 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1193 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1194 |
return 0; |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1195 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
1196 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1197 |
/*****************************************************************************/ |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1198 |
|
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
1199 |
/** |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1200 |
Sends queued commands and waits for their reception. |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1201 |
*/ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1202 |
|
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1203 |
void ecrt_master_sync_io(ec_master_t *master /**< EtherCAT master */) |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1204 |
{ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1205 |
ec_command_t *command, *n; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1206 |
unsigned int commands_sent; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1207 |
cycles_t t_start, t_end, t_timeout; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1208 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1209 |
// send commands |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1210 |
ecrt_master_async_send(master); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1211 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1212 |
t_start = get_cycles(); // measure io time |
120 | 1213 |
t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1214 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1215 |
while (1) { // active waiting |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1216 |
ec_device_call_isr(master->device); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1217 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1218 |
t_end = get_cycles(); // take current time |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1219 |
if (t_end - t_start >= t_timeout) break; // timeout! |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1220 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1221 |
commands_sent = 0; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1222 |
list_for_each_entry_safe(command, n, &master->command_queue, queue) { |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1223 |
if (command->state == EC_CMD_RECEIVED) |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1224 |
list_del_init(&command->queue); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1225 |
else if (command->state == EC_CMD_SENT) |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1226 |
commands_sent++; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1227 |
} |
113 | 1228 |
|
1229 |
if (!commands_sent) break; |
|
1230 |
} |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1231 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
1232 |
// timeout; dequeue all commands |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1233 |
list_for_each_entry_safe(command, n, &master->command_queue, queue) { |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1234 |
switch (command->state) { |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1235 |
case EC_CMD_SENT: |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1236 |
case EC_CMD_QUEUED: |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1237 |
command->state = EC_CMD_TIMEOUT; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1238 |
master->stats.timeouts++; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1239 |
ec_master_output_stats(master); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1240 |
break; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1241 |
case EC_CMD_RECEIVED: |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1242 |
master->stats.delayed++; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1243 |
ec_master_output_stats(master); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1244 |
break; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1245 |
default: |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1246 |
break; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1247 |
} |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
140
diff
changeset
|
1248 |
list_del_init(&command->queue); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1249 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1250 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1251 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1252 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1253 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
1254 |
/** |
195
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|
1255 |
Asynchronous sending of commands. |
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|
1256 |
*/ |
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|
1257 |
|
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|
1258 |
void ecrt_master_async_send(ec_master_t *master /**< EtherCAT master */) |
104
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|
1259 |
{ |
144
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|
1260 |
ec_command_t *command, *n; |
104
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|
1261 |
|
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|
1262 |
if (unlikely(!master->device->link_state)) { |
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|
1263 |
// link is down, no command can be sent |
144
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|
1264 |
list_for_each_entry_safe(command, n, &master->command_queue, queue) { |
104
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|
1265 |
command->state = EC_CMD_ERROR; |
144
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|
1266 |
list_del_init(&command->queue); |
104
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|
1267 |
} |
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|
1268 |
|
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|
1269 |
// query link state |
104
052bc82d5442
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|
1270 |
ec_device_call_isr(master->device); |
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|
1271 |
return; |
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|
1272 |
} |
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|
1273 |
|
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|
1274 |
// send frames |
104
052bc82d5442
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|
1275 |
ec_master_send_commands(master); |
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|
1276 |
} |
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|
1277 |
|
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|
1278 |
/*****************************************************************************/ |
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|
1279 |
|
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|
1280 |
/** |
195
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|
1281 |
Asynchronous receiving of commands. |
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|
1282 |
*/ |
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|
1283 |
|
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|
1284 |
void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */) |
104
052bc82d5442
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|
1285 |
{ |
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|
1286 |
ec_command_t *command, *next; |
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|
1287 |
|
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|
1288 |
ec_device_call_isr(master->device); |
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|
1289 |
|
195
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|
1290 |
// dequeue all received commands |
144
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|
1291 |
list_for_each_entry_safe(command, next, &master->command_queue, queue) |
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|
1292 |
if (command->state == EC_CMD_RECEIVED) list_del_init(&command->queue); |
104
052bc82d5442
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|
1293 |
|
195
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|
1294 |
// dequeue all remaining commands |
144
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|
1295 |
list_for_each_entry_safe(command, next, &master->command_queue, queue) { |
104
052bc82d5442
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|
1296 |
switch (command->state) { |
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|
1297 |
case EC_CMD_SENT: |
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|
1298 |
case EC_CMD_QUEUED: |
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|
1299 |
command->state = EC_CMD_TIMEOUT; |
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|
1300 |
master->stats.timeouts++; |
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diff
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|
1301 |
ec_master_output_stats(master); |
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diff
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|
1302 |
break; |
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|
1303 |
default: |
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diff
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|
1304 |
break; |
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|
1305 |
} |
144
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|
1306 |
list_del_init(&command->queue); |
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|
1307 |
} |
104
052bc82d5442
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|
1308 |
} |
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|
1309 |
|
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|
1310 |
/*****************************************************************************/ |
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|
1311 |
|
052bc82d5442
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|
1312 |
/** |
195
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|
1313 |
Prepares synchronous IO. |
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|
1314 |
Queues all domain commands and sends them. Then waits a certain time, so |
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diff
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|
1315 |
that ecrt_master_sasync_receive() can be called securely. |
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|
1316 |
*/ |
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|
1317 |
|
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|
1318 |
void ecrt_master_prepare_async_io(ec_master_t *master /**< EtherCAT master */) |
106
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1319 |
{ |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1320 |
ec_domain_t *domain; |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1321 |
cycles_t t_start, t_end, t_timeout; |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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|
1322 |
|
195
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|
1323 |
// queue commands of all domains |
106
d6679c77ad3f
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diff
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|
1324 |
list_for_each_entry(domain, &master->domains, list) |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1325 |
ecrt_domain_queue(domain); |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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|
1326 |
|
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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104
diff
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|
1327 |
ecrt_master_async_send(master); |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1328 |
|
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|
1329 |
t_start = get_cycles(); // take sending time |
120 | 1330 |
t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000); |
106
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1331 |
|
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|
1332 |
// active waiting |
113 | 1333 |
while (1) { |
106
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1334 |
t_end = get_cycles(); |
113 | 1335 |
if (t_end - t_start >= t_timeout) break; |
1336 |
} |
|
106
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1337 |
} |
d6679c77ad3f
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diff
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|
1338 |
|
d6679c77ad3f
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diff
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|
1339 |
/*****************************************************************************/ |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
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diff
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|
1340 |
|
d6679c77ad3f
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|
1341 |
/** |
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|
1342 |
Does all cyclic master work. |
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|
1343 |
*/ |
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|
1344 |
|
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|
1345 |
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */) |
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|
1346 |
{ |
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|
1347 |
// output statistics |
144
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|
1348 |
ec_master_output_stats(master); |
fdc24bf62f80
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|
1349 |
|
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|
1350 |
// watchdog command |
144
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|
1351 |
ec_master_process_watch_command(master); |
fdc24bf62f80
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|
1352 |
ec_master_queue_command(master, &master->watch_command); |
145
11a82e4fd31b
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diff
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|
1353 |
|
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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144
diff
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|
1354 |
// Ethernet-over-EtherCAT |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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diff
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|
1355 |
ec_master_run_eoe(master); |
144
fdc24bf62f80
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|
1356 |
} |
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|
1357 |
|
fdc24bf62f80
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|
1358 |
/*****************************************************************************/ |
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|
1359 |
|
fdc24bf62f80
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|
1360 |
/** |
195
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|
1361 |
Sets the debug level of the master. |
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|
1362 |
The following levels are valid: |
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|
1363 |
- 1: only output positions marks and basic data |
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|
1364 |
- 2: additional frame data output |
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diff
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|
1365 |
*/ |
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diff
changeset
|
1366 |
|
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|
1367 |
void ecrt_master_debug(ec_master_t *master, /**< EtherCAT master */ |
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|
1368 |
int level /**< debug level */ |
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|
1369 |
) |
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|
1370 |
{ |
98
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|
1371 |
if (level != master->debug_level) { |
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|
1372 |
master->debug_level = level; |
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|
1373 |
EC_INFO("Master debug level set to %i.\n", level); |
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|
1374 |
} |
73
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|
1375 |
} |
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|
1376 |
|
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|
1377 |
/*****************************************************************************/ |
9f4ea66d89a3
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|
1378 |
|
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|
1379 |
/** |
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|
1380 |
Outputs all master information. |
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1381 |
Verbosity: |
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|
1382 |
- 0: Only slave types and positions |
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1383 |
- 1: with EEPROM contents |
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1384 |
- >1: with SDO dictionaries |
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1385 |
*/ |
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1386 |
|
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|
1387 |
void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */ |
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|
1388 |
unsigned int verbosity /**< verbosity level */ |
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|
1389 |
) |
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|
1390 |
{ |
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|
1391 |
ec_slave_t *slave; |
145
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1392 |
ec_eoe_t *eoe; |
73
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|
1393 |
|
84
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|
1394 |
EC_INFO("*** Begin master information ***\n"); |
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1395 |
if (master->slave_count) { |
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1396 |
EC_INFO("Slave list:\n"); |
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1397 |
list_for_each_entry(slave, &master->slaves, list) |
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|
1398 |
ec_slave_print(slave, verbosity); |
145
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|
1399 |
} |
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|
1400 |
if (!list_empty(&master->eoe_slaves)) { |
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|
1401 |
EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n"); |
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|
1402 |
list_for_each_entry(eoe, &master->eoe_slaves, list) { |
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|
1403 |
ec_eoe_print(eoe); |
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|
1404 |
} |
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|
1405 |
} |
84
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diff
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|
1406 |
EC_INFO("*** End master information ***\n"); |
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|
1407 |
} |
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|
1408 |
|
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|
1409 |
/*****************************************************************************/ |
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|
1410 |
|
195
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|
1411 |
/** |
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|
1412 |
Does the Ethernet-over-EtherCAT processing. |
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|
1413 |
*/ |
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|
1414 |
|
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|
1415 |
void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */) |
145
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|
1416 |
{ |
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|
1417 |
ec_eoe_t *eoe; |
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|
1418 |
|
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|
1419 |
list_for_each_entry(eoe, &master->eoe_slaves, list) { |
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|
1420 |
ec_eoe_run(eoe); |
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|
1421 |
} |
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|
1422 |
} |
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|
1423 |
|
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|
1424 |
/*****************************************************************************/ |
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|
1425 |
|
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|
1426 |
EXPORT_SYMBOL(ecrt_master_create_domain); |
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|
1427 |
EXPORT_SYMBOL(ecrt_master_activate); |
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|
1428 |
EXPORT_SYMBOL(ecrt_master_deactivate); |
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|
1429 |
EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists); |
109
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|
1430 |
EXPORT_SYMBOL(ecrt_master_prepare_async_io); |
104
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|
1431 |
EXPORT_SYMBOL(ecrt_master_sync_io); |
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|
1432 |
EXPORT_SYMBOL(ecrt_master_async_send); |
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|
1433 |
EXPORT_SYMBOL(ecrt_master_async_receive); |
144
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Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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|
1434 |
EXPORT_SYMBOL(ecrt_master_run); |
104
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|
1435 |
EXPORT_SYMBOL(ecrt_master_debug); |
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|
1436 |
EXPORT_SYMBOL(ecrt_master_print); |
138
7e743a61a991
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|
1437 |
EXPORT_SYMBOL(ecrt_master_get_slave); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
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39
diff
changeset
|
1438 |
|
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
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diff
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|
1439 |
/*****************************************************************************/ |