master/device.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Jul 2009 14:05:36 +0000
changeset 1492 c44308ec691b
parent 1476 1da1c72fd495
child 1507 68e89abadd19
permissions -rw-r--r--
Zero mailbox datagram before sending.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT device methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/skbuff.h>
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#include <linux/if_ether.h>
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#include <linux/netdevice.h>
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#include "device.h"
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#include "master.h"
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#ifdef EC_DEBUG_RING
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#define timersub(a, b, result) \
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    do { \
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        (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
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        (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
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        if ((result)->tv_usec < 0) { \
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            --(result)->tv_sec; \
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            (result)->tv_usec += 1000000; \
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        } \
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    } while (0)
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#endif
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/*****************************************************************************/
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/** Constructor.
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 * 
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 * \return 0 in case of success, else < 0
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 */
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int ec_device_init(
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        ec_device_t *device, /**< EtherCAT device */
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        ec_master_t *master /**< master owning the device */
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        )
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{
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    int ret;
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    unsigned int i;
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    struct ethhdr *eth;
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#ifdef EC_DEBUG_IF
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    char ifname[10];
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    char mb = 'x';
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#endif
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#ifdef EC_DEBUG_RING
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    device->debug_frame_index = 0;
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    device->debug_frame_count = 0;
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#endif
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    device->master = master;
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    device->tx_ring_index = 0;
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#ifdef EC_DEBUG_IF
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    if (device == &master->main_device)
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        mb = 'm';
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    else if (device == &master->backup_device)
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        mb = 'b';
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    sprintf(ifname, "ecdbg%c%u", mb, master->index);
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    ret = ec_debug_init(&device->dbg, ifname);
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    if (ret < 0) {
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        EC_ERR("Failed to init debug device!\n");
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        goto out_return;
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    }
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#endif
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        device->tx_skb[i] = NULL;
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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        if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) {
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            EC_ERR("Error allocating device socket buffer!\n");
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            ret = -ENOMEM;
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            goto out_tx_ring;
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        }
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        // add Ethernet-II-header
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        skb_reserve(device->tx_skb[i], ETH_HLEN);
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        eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN);
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        eth->h_proto = htons(0x88A4);
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        memset(eth->h_dest, 0xFF, ETH_ALEN);
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    }
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    ec_device_detach(device); // resets remaining fields
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    return 0;
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out_tx_ring:
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        if (device->tx_skb[i])
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            dev_kfree_skb(device->tx_skb[i]);
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#ifdef EC_DEBUG_IF
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    ec_debug_clear(&device->dbg);
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out_return:
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#endif
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    return ret;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_device_clear(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    unsigned int i;
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    if (device->open) ec_device_close(device);
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        dev_kfree_skb(device->tx_skb[i]);
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#ifdef EC_DEBUG_IF
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    ec_debug_clear(&device->dbg);
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#endif
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}
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/*****************************************************************************/
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/** Associate with net_device.
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 */
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void ec_device_attach(
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        ec_device_t *device, /**< EtherCAT device */
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        struct net_device *net_dev, /**< net_device structure */
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        ec_pollfunc_t poll, /**< pointer to device's poll function */
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        struct module *module /**< the device's module */
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        )
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{
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    unsigned int i;
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    struct ethhdr *eth;
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    ec_device_detach(device); // resets fields
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    device->dev = net_dev;
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    device->poll = poll;
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    device->module = module;
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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        device->tx_skb[i]->dev = net_dev;
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        eth = (struct ethhdr *) (device->tx_skb[i]->data);
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        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);
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    }
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#ifdef EC_DEBUG_IF
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    ec_debug_register(&device->dbg, net_dev);
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#endif
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}
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/*****************************************************************************/
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/** Disconnect from net_device.
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 */
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void ec_device_detach(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    unsigned int i;
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#ifdef EC_DEBUG_IF
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    ec_debug_unregister(&device->dbg);
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#endif
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    device->dev = NULL;
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    device->poll = NULL;
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    device->module = NULL;
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    device->open = 0;
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    device->link_state = 0; // down
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    device->tx_count = 0;
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    device->rx_count = 0;
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        device->tx_skb[i]->dev = NULL;
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}
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/*****************************************************************************/
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/** Opens the EtherCAT device.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_device_open(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int ret;
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    if (!device->dev) {
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        EC_ERR("No net_device to open!\n");
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        return -ENODEV;
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    }
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    if (device->open) {
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        EC_WARN("Device already opened!\n");
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        return 0;
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    }
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    device->link_state = 0;
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    device->tx_count = 0;
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    device->rx_count = 0;
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_open(device->dev);
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#else
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    ret = device->dev->open(device->dev);
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#endif
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    if (!ret)
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        device->open = 1;
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    return ret;
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}
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/*****************************************************************************/
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/** Stops the EtherCAT device.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_device_close(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int ret;
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    if (!device->dev) {
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        EC_ERR("No device to close!\n");
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        return -ENODEV;
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    }
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    if (!device->open) {
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        EC_WARN("Device already closed!\n");
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        return 0;
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    }
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_stop(device->dev);
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#else
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    ret = device->dev->stop(device->dev);
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#endif
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    if (!ret)
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        device->open = 0;
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    return ret;
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}
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/*****************************************************************************/
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/** Returns a pointer to the device's transmit memory.
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 *
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 * \return pointer to the TX socket buffer
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 */
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uint8_t *ec_device_tx_data(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    /* cycle through socket buffers, because otherwise there is a race
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     * condition, if multiple frames are sent and the DMA is not scheduled in
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     * between. */
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    device->tx_ring_index++;
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    device->tx_ring_index %= EC_TX_RING_SIZE;
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    return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN;
0
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}
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39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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/*****************************************************************************/
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/** Sends the content of the transmit socket buffer.
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 *
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 * Cuts the socket buffer content to the (now known) size, and calls the
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 * start_xmit() function of the assigned net_device.
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 */
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void ec_device_send(
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        ec_device_t *device, /**< EtherCAT device */
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        size_t size /**< number of bytes to send */
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        )
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{
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    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];
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e6264685dd7b Link-Down-Verhalten verbessert.
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    if (unlikely(!device->link_state)) // Link down
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        return;
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    // set the right length for the data
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    skb->len = ETH_HLEN + size;
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    if (unlikely(device->master->debug_level > 1)) {
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        EC_DBG("sending frame:\n");
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        ec_print_data(skb->data + ETH_HLEN, size);
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    }
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    // start sending
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) == NETDEV_TX_OK) {
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#else
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    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK) {
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#endif
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		device->tx_count++;
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#ifdef EC_DEBUG_IF
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		ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);
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#endif
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#ifdef EC_DEBUG_RING
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		ec_device_debug_ring_append(
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				device, TX, skb->data + ETH_HLEN, size);
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#endif
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	}
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}
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/*****************************************************************************/
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#ifdef EC_DEBUG_RING
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/** Appends frame data to the debug ring.
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 */
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void ec_device_debug_ring_append(
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        ec_device_t *device, /**< EtherCAT device */
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        ec_debug_frame_dir_t dir, /**< direction */
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        const void *data, /**< frame data */
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        size_t size /**< data size */
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        )
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{
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    ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index];
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    df->dir = dir;
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    if (dir == TX)
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        do_gettimeofday(&df->t);
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    else
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        df->t = device->timeval_poll;
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    memcpy(df->data, data, size);
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    df->data_size = size;
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    device->debug_frame_index++;
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    device->debug_frame_index %= EC_DEBUG_RING_SIZE;
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    if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE))
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        device->debug_frame_count++;
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}
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/*****************************************************************************/
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/** Outputs the debug ring.
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 */
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void ec_device_debug_ring_print(
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        const ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int i;
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    unsigned int ring_index;
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    const ec_debug_frame_t *df;
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    struct timeval t0, diff;
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    // calculate index of the newest frame in the ring to get its time
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    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE - 1)
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        % EC_DEBUG_RING_SIZE;
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    t0 = device->debug_frames[ring_index].t;
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    EC_DBG("Debug ring %u:\n", ring_index);
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    // calculate index of the oldest frame in the ring
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    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE
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            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;
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    for (i = 0; i < device->debug_frame_count; i++) {
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   386
        df = &device->debug_frames[ring_index];
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   387
        timersub(&t0, &df->t, &diff);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   388
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 759
diff changeset
   389
        EC_DBG("Frame %u, dt=%u.%06u s, %s:\n",
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   390
                i + 1 - device->debug_frame_count,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   391
                (unsigned int) diff.tv_sec,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   392
                (unsigned int) diff.tv_usec,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   393
                (df->dir == TX) ? "TX" : "RX");
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   394
        ec_print_data(df->data, df->data_size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   395
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   396
        ring_index++;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   397
        ring_index %= EC_DEBUG_RING_SIZE;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   398
    }
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   399
}
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   400
#endif
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   401
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   402
/*****************************************************************************/
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   403
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   404
/** Calls the poll function of the assigned net_device.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   405
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   406
 * The master itself works without using interrupts. Therefore the processing
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   407
 * of received data and status changes of the network device has to be
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   408
 * done by the master calling the ISR "manually".
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   409
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   410
void ec_device_poll(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   411
        ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   412
        )
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   413
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   414
#ifdef EC_HAVE_CYCLES
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   415
    device->cycles_poll = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   416
#endif
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   417
    device->jiffies_poll = jiffies;
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   418
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   419
    do_gettimeofday(&device->timeval_poll);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   420
#endif
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   421
    device->poll(device->dev);
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   422
}
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   423
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   424
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   425
 *  Device interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   426
 *****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   427
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   428
/** Withdraws an EtherCAT device from the master.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   429
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   430
 * The device is disconnected from the master and all device ressources
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   431
 * are freed.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   432
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   433
 * \attention Before calling this function, the ecdev_stop() function has
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   434
 *            to be called, to be sure that the master does not use the device
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   435
 *            any more.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   436
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   437
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   438
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   439
{
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   440
    ec_master_t *master = device->master;
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   441
    char str[20];
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   442
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   443
    ec_mac_print(device->dev->dev_addr, str);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   444
    EC_INFO("Master %u releasing main device %s.\n", master->index, str);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   445
    
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   446
    down(&master->device_sem);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   447
    ec_device_detach(device);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   448
    up(&master->device_sem);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   449
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   450
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   451
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   452
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   453
/** Opens the network device and makes the master enter IDLE phase.
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   454
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   455
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   456
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   457
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   458
int ecdev_open(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   459
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   460
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   461
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   462
    ret = ec_device_open(device);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   463
    if (ret) {
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   464
        EC_ERR("Failed to open device!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   465
        return ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   466
    }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   467
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   468
    ret = ec_master_enter_idle_phase(device->master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   469
    if (ret) {
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   470
        EC_ERR("Failed to enter IDLE phase!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   471
        return ret;
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   472
    }
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   473
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   474
    return 0;
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   475
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   476
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   477
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   478
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   479
/** Makes the master leave IDLE phase and closes the network device.
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   480
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   481
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   482
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   483
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   484
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   485
{
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   486
    ec_master_leave_idle_phase(device->master);
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   487
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   488
    if (ec_device_close(device))
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   489
        EC_WARN("Failed to close device!\n");
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   490
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   491
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   492
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   493
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   494
/** Accepts a received frame.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   495
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   496
 * Forwards the received data to the master. The master will analyze the frame
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   497
 * and dispatch the received commands to the sending instances.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   498
 * 
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   499
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   500
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   501
void ecdev_receive(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   502
        ec_device_t *device, /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   503
        const void *data, /**< pointer to received data */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   504
        size_t size /**< number of bytes received */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   505
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 70
diff changeset
   506
{
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   507
    const void *ec_data = data + ETH_HLEN;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   508
    size_t ec_size = size - ETH_HLEN;
493
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   509
    device->rx_count++;
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   510
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   511
    if (unlikely(device->master->debug_level > 1)) {
84
b4ae98855cea printk durch Makros ersetzt.
Florian Pose <fp@igh-essen.com>
parents: 78
diff changeset
   512
        EC_DBG("Received frame:\n");
693
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
   513
        ec_print_data(ec_data, ec_size);
231
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   514
    }
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   515
679
62fc387ec928 Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
Florian Pose <fp@igh-essen.com>
parents: 670
diff changeset
   516
#ifdef EC_DEBUG_IF
231
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   517
    ec_debug_send(&device->dbg, data, size);
392
eaee3c8d6ae0 Debug interfaces not compiled by default.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   518
#endif
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   519
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   520
    ec_device_debug_ring_append(device, RX, ec_data, ec_size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   521
#endif
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   522
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   523
    ec_master_receive_datagrams(device->master, ec_data, ec_size);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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parents: 42
diff changeset
   524
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   525
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   526
/*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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parents: 42
diff changeset
   527
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
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   528
/** Sets a new link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   529
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   530
 * If the device notifies the master about the link being down, the master
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   531
 * will not try to send frames using this device.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   532
 * 
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   533
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   534
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   535
void ecdev_set_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   536
        ec_device_t *device, /**< EtherCAT device */
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   537
        uint8_t state /**< new link state */
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   538
        )
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   539
{
191
ca805255a935 Prepared Free-Run mode
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diff changeset
   540
    if (unlikely(!device)) {
1011
a0759d0dded4 Improved ecdev_offer().
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parents: 986
diff changeset
   541
        EC_WARN("ecdev_set_link(): No device!\n");
191
ca805255a935 Prepared Free-Run mode
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parents: 152
diff changeset
   542
        return;
ca805255a935 Prepared Free-Run mode
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parents: 152
diff changeset
   543
    }
ca805255a935 Prepared Free-Run mode
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parents: 152
diff changeset
   544
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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   545
    if (likely(state != device->link_state)) {
96
080b46eb6e2d Link-State im Device.
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diff changeset
   546
        device->link_state = state;
080b46eb6e2d Link-State im Device.
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diff changeset
   547
        EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN"));
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   548
    }
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   549
}
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   550
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   551
/*****************************************************************************/
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   552
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   553
/** Reads the link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   554
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   555
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   556
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   557
uint8_t ecdev_get_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   558
        const ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   559
        )
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   560
{
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   561
    if (unlikely(!device)) {
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   562
        EC_WARN("ecdev_get_link(): No device!\n");
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   563
        return 0;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   564
    }
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   565
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   566
    return device->link_state;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   567
}
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   568
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   569
/*****************************************************************************/
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   570
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   571
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   572
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
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diff changeset
   573
EXPORT_SYMBOL(ecdev_withdraw);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   574
EXPORT_SYMBOL(ecdev_open);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   575
EXPORT_SYMBOL(ecdev_close);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   576
EXPORT_SYMBOL(ecdev_receive);
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   577
EXPORT_SYMBOL(ecdev_get_link);
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   578
EXPORT_SYMBOL(ecdev_set_link);
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
   579
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   580
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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parents: 197
diff changeset
   581
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   582
/*****************************************************************************/