etherlabmaster: master/master.c@cd6b819c2351 (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	3	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 239 diff changeset	31	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	32	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT master methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	41	#include <linux/module.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include <linux/kernel.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include <linux/string.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include <linux/slab.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include <linux/delay.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	47	#include "../include/ecrt.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	48	#include "globals.h"
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	49	#include "master.h"
55 059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	50	#include "slave.h"
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	51	#include "device.h"
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	52	#include "datagram.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	53	#include "ethernet.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	54
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	55	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	56
404 7f7f429e13c7 Removed clear functions from headers of kobject-classes. Florian Pose <fp@igh-essen.com> parents: 398 diff changeset	57	void ec_master_clear(struct kobject *);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	58	void ec_master_destroy_domains(ec_master_t *);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	59	void ec_master_sync_io(ec_master_t *);
318 5f35e74124d1 Renamed ec_master_idle() to ec_master_idle_run(). Florian Pose <fp@igh-essen.com> parents: 313 diff changeset	60	void ec_master_idle_run(void *);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	61	void ec_master_eoe_run(unsigned long);
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	62	void ec_master_check_sdo(unsigned long);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	63	int ec_master_measure_bus_time(ec_master_t *);
179 fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	64	ssize_t ec_show_master_attribute(struct kobject , struct attribute , char *);
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	65	ssize_t ec_store_master_attribute(struct kobject , struct attribute ,
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	66	const char *, size_t);
179 fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	67
fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	68	/*****************************************************************************/
fb4c9dd11ca0 Sourced SysFS attribute show method prototypes out of headers. Florian Pose <fp@igh-essen.com> parents: 178 diff changeset	69
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	70	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	71
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	72	EC_SYSFS_READ_ATTR(info);
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	73	EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	74	EC_SYSFS_READ_WRITE_ATTR(debug_level);
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	75
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	76	static struct attribute *ec_def_attrs[] = {
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	77	&attr_info,
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	78	&attr_eeprom_write_enable,
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	79	&attr_debug_level,
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	80	NULL,
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	81	};
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	82
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	83	static struct sysfs_ops ec_sysfs_ops = {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	84	.show = &ec_show_master_attribute,
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	85	.store = ec_store_master_attribute
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	86	};
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	87
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	88	static struct kobj_type ktype_ec_master = {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	89	.release = ec_master_clear,
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	90	.sysfs_ops = &ec_sysfs_ops,
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	91	.default_attrs = ec_def_attrs
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	92	};
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	93
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	94	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	95
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	96	/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	97
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	98	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	99	Master constructor.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	100	\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	101	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	102
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	103	int ec_master_init(ec_master_t master, /< EtherCAT master /
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	104	unsigned int index, /*< master index /
361 29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	105	unsigned int eoeif_count, /*< number of EoE interfaces /
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	106	dev_t dev_num /*< number for XML cdev's /
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	107	)
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	108	{
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	109	ec_eoe_t eoe, next_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	110	unsigned int i;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	111
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	112	EC_INFO("Initializing master %i.\n", index);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	113
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	114	atomic_set(&master->available, 1);
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	115	master->index = index;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	116
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	117	master->device = NULL;
381 006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master. Florian Pose <fp@igh-essen.com> parents: 378 diff changeset	118	init_MUTEX(&master->device_sem);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	119
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	120	master->mode = EC_MASTER_MODE_ORPHANED;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	121
182 8c0bc99229a9 Slaves stored in list, slaves in SysFS Florian Pose <fp@igh-essen.com> parents: 179 diff changeset	122	INIT_LIST_HEAD(&master->slaves);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	123	master->slave_count = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	124
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	125	INIT_LIST_HEAD(&master->datagram_queue);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	126	master->datagram_index = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	127
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	128	INIT_LIST_HEAD(&master->domains);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	129	master->debug_level = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	130
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	131	master->stats.timeouts = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	132	master->stats.corrupted = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	133	master->stats.skipped = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	134	master->stats.unmatched = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	135	master->stats.output_jiffies = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	136
318 5f35e74124d1 Renamed ec_master_idle() to ec_master_idle_run(). Florian Pose <fp@igh-essen.com> parents: 313 diff changeset	137	INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	138
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	139	for (i = 0; i < HZ; i++) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	140	master->idle_cycle_times[i] = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	141	master->eoe_cycle_times[i] = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	142	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	143	master->idle_cycle_time_pos = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	144	master->eoe_cycle_time_pos = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	145
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	146	init_timer(&master->eoe_timer);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	147	master->eoe_timer.function = ec_master_eoe_run;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	148	master->eoe_timer.data = (unsigned long) master;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	149	master->eoe_running = 0;
326 ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	150	master->eoe_checked = 0;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	151	INIT_LIST_HEAD(&master->eoe_handlers);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	152
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	153	master->internal_lock = SPIN_LOCK_UNLOCKED;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	154	master->request_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	155	master->release_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	156	master->cb_data = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	157
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	158	master->eeprom_write_enable = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	159
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	160	master->sdo_request = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	161	master->sdo_seq_user = 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	162	master->sdo_seq_master = 0;
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	163	init_MUTEX(&master->sdo_sem);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	164	init_timer(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	165	master->sdo_timer.function = ec_master_check_sdo;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	166	master->sdo_timer.data = (unsigned long) master;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	167	init_completion(&master->sdo_complete);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	168
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	169	// create workqueue
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	170	if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	171	EC_ERR("Failed to create master workqueue.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	172	goto out_return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	173	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	174
361 29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	175	// init XML character device
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	176	if (ec_xmldev_init(&master->xmldev, master, dev_num)) {
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	177	EC_ERR("Failed to init XML character device.\n");
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	178	goto out_clear_wq;
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	179	}
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	180
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	181	// create EoE handlers
321 64e20e6e9d0b Renamed master parameter ec_eoe_devices to ec_eoeif_count. Florian Pose <fp@igh-essen.com> parents: 318 diff changeset	182	for (i = 0; i < eoeif_count; i++) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	183	if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	184	EC_ERR("Failed to allocate EoE-Object.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	185	goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	186	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	187	if (ec_eoe_init(eoe)) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	188	kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	189	goto out_clear_eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	190	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	191	list_add_tail(&eoe->list, &master->eoe_handlers);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	192	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	193
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	194	// create state machine object
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	195	if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	196
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	197	// init kobject and add it to the hierarchy
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	198	memset(&master->kobj, 0x00, sizeof(struct kobject));
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	199	kobject_init(&master->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	200	master->kobj.ktype = &ktype_ec_master;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	201	if (kobject_set_name(&master->kobj, "ethercat%i", index)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	202	EC_ERR("Failed to set kobj name.\n");
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	203	kobject_put(&master->kobj);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	204	return -1;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	205	}
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	206
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	207	return 0;
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	208
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	209	out_clear_eoe:
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	210	list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	211	list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	212	ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	213	kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	214	}
361 29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	215	ec_xmldev_clear(&master->xmldev);
29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	216	out_clear_wq:
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	217	destroy_workqueue(master->workqueue);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	218	out_return:
07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	219	return -1;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	221
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 35 diff changeset	222	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	223
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	224	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	225	Master destructor.
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	226	Clears the kobj-hierarchy bottom up and frees the master.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	227	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	228
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	229	void ec_master_destroy(ec_master_t master /< EtherCAT master /)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	230	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	231	ec_master_destroy_slaves(master);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	232	ec_master_destroy_domains(master);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	233
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	234	// destroy self
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	235	kobject_del(&master->kobj);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	236	kobject_put(&master->kobj); // free master
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	237	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	238
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	239	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	240
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	241	/**
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	242	Clear and free master.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	243	This method is called by the kobject,
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	244	once there are no more references to it.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	245	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	246
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	247	void ec_master_clear(struct kobject kobj /< kobject of the master /)
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	248	{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	249	ec_master_t *master = container_of(kobj, ec_master_t, kobj);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	250	ec_eoe_t eoe, next_eoe;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	251	ec_datagram_t datagram, next_c;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	252
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	253	// empty datagram queue
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	254	list_for_each_entry_safe(datagram, next_c,
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	255	&master->datagram_queue, queue) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	256	datagram->state = EC_DATAGRAM_ERROR;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	257	list_del_init(&datagram->queue);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	258	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	259
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	260	ec_fsm_clear(&master->fsm);
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	261	destroy_workqueue(master->workqueue);
361 29af81543ce1 Introduced per-master character devices for XML descriptions. Florian Pose <fp@igh-essen.com> parents: 356 diff changeset	262	ec_xmldev_clear(&master->xmldev);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	263
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	264	// clear EoE objects
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	265	list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	266	list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	267	ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	268	kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	269	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	270
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	271	EC_INFO("Master %i freed.\n", master->index);
418 7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 415 diff changeset	272
7a43437bc48b Fixed memory leak in master and slave destructors. Florian Pose <fp@igh-essen.com> parents: 415 diff changeset	273	kfree(master);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	274	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	275
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	276	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	277
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	278	/**
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	279	Destroy all slaves.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	280	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	281
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	282	void ec_master_destroy_slaves(ec_master_t *master)
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	283	{
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	284	ec_slave_t slave, next_slave;
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	285
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	286	list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	287	list_del(&slave->list);
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	288	ec_slave_destroy(slave);
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	289	}
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	290
238 b4960499098f Added finite state machine (FSM) processing. Florian Pose <fp@igh-essen.com> parents: 236 diff changeset	291	master->slave_count = 0;
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	292	}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	293
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	294	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	295
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	296	/**
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	297	Destroy all domains.
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	298	*/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	299
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	300	void ec_master_destroy_domains(ec_master_t *master)
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	301	{
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	302	ec_domain_t domain, next_d;
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	303
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	304	list_for_each_entry_safe(domain, next_d, &master->domains, list) {
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	305	list_del(&domain->list);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	306	ec_domain_destroy(domain);
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	307	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	308	}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	309
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	310	/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	311
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	312	/**
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	313	Flushes the SDO request queue.
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	314	*/
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	315
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	316	void ec_master_flush_sdo_requests(ec_master_t *master)
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	317	{
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	318	del_timer_sync(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	319	complete(&master->sdo_complete);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	320	master->sdo_request = NULL;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	321	master->sdo_seq_user = 0;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	322	master->sdo_seq_master = 0;
430 74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	323	}
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	324
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	325	/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	326
74754f45d5fa Implemented SDO reading via Sysfs. Florian Pose <fp@igh-essen.com> parents: 418 diff changeset	327	/**
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	328	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	329
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	330	int ec_master_enter_idle_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	331	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	332	master->mode = EC_MASTER_MODE_IDLE;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	333	queue_delayed_work(master->workqueue, &master->idle_work, 1);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	334	return 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	335	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	336
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	337	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	338
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	339	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	340	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	341
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	342	void ec_master_leave_idle_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	343	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	344	ec_master_eoe_stop(master);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	345
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	346	master->mode = EC_MASTER_MODE_ORPHANED;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	347	if (!cancel_delayed_work(&master->idle_work)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	348	flush_workqueue(master->workqueue);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	349	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	350
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	351	ec_master_flush_sdo_requests(master);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	352	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	353
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	354	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	355
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	356	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	357	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	358
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	359	int ec_master_enter_operation_mode(ec_master_t master /< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	360	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	361	ec_slave_t *slave;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	362	ec_datagram_t *datagram = &master->fsm.datagram;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	363
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	364	master->mode = EC_MASTER_MODE_OPERATION;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	365	if (!cancel_delayed_work(&master->idle_work)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	366	flush_workqueue(master->workqueue);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	367	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	368
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	369	// wait for FSM datagram
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	370	if (datagram->state == EC_DATAGRAM_SENT) {;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	371	while (get_cycles() - datagram->cycles_sent
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	372	< (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000)) {}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	373	ecrt_master_receive(master);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	374	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	375
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	376	// finish running FSM
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	377	while (ec_fsm_exec(&master->fsm)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	378	ec_master_sync_io(master);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	379	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	380
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	381	if (!ec_fsm_success(&master->fsm)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	382	EC_ERR("Master state machine failure!\n");
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	383	goto out_idle;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	384	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	385
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	386	if (master->debug_level) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	387	if (ec_master_measure_bus_time(master)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	388	EC_ERR("Bus time measuring failed!\n");
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	389	goto out_idle;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	390	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	391	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	392
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	393	// set initial slave states
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	394	list_for_each_entry(slave, &master->slaves, list) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	395	if (ec_slave_is_coupler(slave)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	396	ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	397	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	398	else {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	399	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	400	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	401	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	402
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	403	return 0;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	404
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	405	out_idle:
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	406	master->mode = EC_MASTER_MODE_IDLE;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	407	queue_delayed_work(master->workqueue, &master->idle_work, 1);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	408	return -1;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	409	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	410
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	411	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	412
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	413	/**
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	414	*/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	415
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	416	void ec_master_leave_operation_mode(ec_master_t *master
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	417	/*< EtherCAT master /)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	418	{
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	419	ec_slave_t *slave;
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	420	ec_fsm_t *fsm = &master->fsm;
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	421	ec_datagram_t *datagram = &master->fsm.datagram;
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	422
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	423	// wait for FSM datagram
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	424	if (datagram->state == EC_DATAGRAM_SENT) {
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	425	while (get_cycles() - datagram->cycles_sent
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	426	< (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000)) {}
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	427	ecrt_master_receive(master);
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	428	}
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	429
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	430	// set states for all slaves
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	431	list_for_each_entry(slave, &master->slaves, list) {
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	432	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	433	}
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	434
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	435	// execute master FSM to deactivate slaves
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	436	while (ec_fsm_exec(fsm)) {
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	437	ec_master_sync_io(master);
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	438	}
448 e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	439
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	440	ec_master_destroy_domains(master);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	441
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	442	master->request_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	443	master->release_cb = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	444	master->cb_data = NULL;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	445
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	446	list_for_each_entry(slave, &master->slaves, list) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	447	ec_slave_reset(slave);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	448	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	449
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	450	master->mode = EC_MASTER_MODE_IDLE;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	451	queue_delayed_work(master->workqueue, &master->idle_work, 1);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	452	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	453
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	454	/*****************************************************************************/
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	455
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	456	/**
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	457	Places a datagram in the datagram queue.
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	458	*/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	459
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	460	void ec_master_queue_datagram(ec_master_t master, /< EtherCAT master /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	461	ec_datagram_t datagram /< datagram /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	462	)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	463	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	464	ec_datagram_t *queued_datagram;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	465
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	466	// check, if the datagram is already queued
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	467	list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	468	if (queued_datagram == datagram) {
332 e16093374dfd New statistic outputs to avoid blasting the logs. Florian Pose <fp@igh-essen.com> parents: 331 diff changeset	469	master->stats.skipped++;
e16093374dfd New statistic outputs to avoid blasting the logs. Florian Pose <fp@igh-essen.com> parents: 331 diff changeset	470	ec_master_output_stats(master);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	471	datagram->state = EC_DATAGRAM_QUEUED;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	472	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	473	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	474	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	475
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	476	list_add_tail(&datagram->queue, &master->datagram_queue);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	477	datagram->state = EC_DATAGRAM_QUEUED;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	478	datagram->cycles_queued = get_cycles();
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	479	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	480
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	481	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	482
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	483	/**
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	484	Sends the datagrams in the queue.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	485	\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	486	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	487
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	488	void ec_master_send_datagrams(ec_master_t master /< EtherCAT master /)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	489	{
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	490	ec_datagram_t datagram, next;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	491	size_t datagram_size;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	492	uint8_t frame_data, cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	493	void *follows_word;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	494	cycles_t cycles_start, cycles_sent, cycles_end;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	495	unsigned long jiffies_sent;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	496	unsigned int frame_count, more_datagrams_waiting;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	497	struct list_head sent_datagrams;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	498
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	499	cycles_start = get_cycles();
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	500	frame_count = 0;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	501	INIT_LIST_HEAD(&sent_datagrams);
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	502
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	503	if (unlikely(master->debug_level > 1))
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	504	EC_DBG("ec_master_send_datagrams\n");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	505
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	506	do {
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	507	// fetch pointer to transmit socket buffer
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	508	frame_data = ec_device_tx_data(master->device);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	509	cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	510	follows_word = NULL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	511	more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	512
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	513	// fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	514	list_for_each_entry(datagram, &master->datagram_queue, queue) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	515	if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	516
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	517	// does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	518	datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	519	+ EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	520	if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	521	more_datagrams_waiting = 1;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	522	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	523	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	524
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	525	list_add_tail(&datagram->sent, &sent_datagrams);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	526	datagram->index = master->datagram_index++;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	527
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	528	if (unlikely(master->debug_level > 1))
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	529	EC_DBG("adding datagram 0x%02X\n", datagram->index);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	530
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	531	// set "datagram following" flag in previous frame
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	532	if (follows_word)
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	533	EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) \| 0x8000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	534
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	535	// EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	536	EC_WRITE_U8 (cur_data, datagram->type);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	537	EC_WRITE_U8 (cur_data + 1, datagram->index);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	538	EC_WRITE_U32(cur_data + 2, datagram->address.logical);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	539	EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	540	EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	541	follows_word = cur_data + 6;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	542	cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	543
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	544	// EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	545	memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	546	cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	547
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	548	// EtherCAT datagram footer
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	549	EC_WRITE_U16(cur_data, 0x0000); // reset working counter
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	550	cur_data += EC_DATAGRAM_FOOTER_SIZE;
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	551	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	552
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	553	if (list_empty(&sent_datagrams)) {
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	554	if (unlikely(master->debug_level > 1))
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	555	EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	556	break;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	557	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	558
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	559	// EtherCAT frame header
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	560	EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	561	- EC_FRAME_HEADER_SIZE) & 0x7FF) \| 0x1000);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	562
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	563	// pad frame
211 c684b6b7adaf Using kernel Ethernet constants. Florian Pose <fp@igh-essen.com> parents: 208 diff changeset	564	while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	565	EC_WRITE_U8(cur_data++, 0x00);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	566
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	567	if (unlikely(master->debug_level > 1))
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	568	EC_DBG("frame size: %i\n", cur_data - frame_data);
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	569
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	570	// send frame
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	571	ec_device_send(master->device, cur_data - frame_data);
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	572	cycles_sent = get_cycles();
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	573	jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	574
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	575	// set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	576	list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	577	datagram->state = EC_DATAGRAM_SENT;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	578	datagram->cycles_sent = cycles_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	579	datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	580	list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	581	}
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	582
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	583	frame_count++;
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	584	}
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	585	while (more_datagrams_waiting);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	586
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	587	if (unlikely(master->debug_level > 1)) {
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	588	cycles_end = get_cycles();
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	589	EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	590	frame_count,
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	591	(unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
176 1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	592	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	593	}
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	594
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	595	/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	596
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	597	/**
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	598	Processes a received frame.
1ac0fc378b95 Sending of multiple frames Florian Pose <fp@igh-essen.com> parents: 173 diff changeset	599	This function is called by the network driver for every received frame.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	600	\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	601	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	602
331 17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams(). Florian Pose <fp@igh-essen.com> parents: 330 diff changeset	603	void ec_master_receive_datagrams(ec_master_t master, /< EtherCAT master /
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams(). Florian Pose <fp@igh-essen.com> parents: 330 diff changeset	604	const uint8_t frame_data, /< frame data /
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams(). Florian Pose <fp@igh-essen.com> parents: 330 diff changeset	605	size_t size /*< size of the received data /
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams(). Florian Pose <fp@igh-essen.com> parents: 330 diff changeset	606	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	607	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	608	size_t frame_size, data_size;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	609	uint8_t datagram_type, datagram_index;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	610	unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	611	const uint8_t *cur_data;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	612	ec_datagram_t *datagram;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	613
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	614	if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	615	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	616	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	617	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	618	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	619
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	620	cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	621
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	622	// check length of entire frame
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	623	frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	624	cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	625
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	626	if (unlikely(frame_size > size)) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	627	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	628	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	629	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	630	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	631
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	632	cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	633	while (cmd_follows) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	634	// process datagram header
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	635	datagram_type = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	636	datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	637	data_size = EC_READ_U16(cur_data + 6) & 0x07FF;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	638	cmd_follows = EC_READ_U16(cur_data + 6) & 0x8000;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	639	cur_data += EC_DATAGRAM_HEADER_SIZE;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	640
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	641	if (unlikely(cur_data - frame_data
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	642	+ data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	643	master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	644	ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	645	return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	646	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	647
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	648	// search for matching datagram in the queue
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	649	matched = 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	650	list_for_each_entry(datagram, &master->datagram_queue, queue) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	651	if (datagram->state == EC_DATAGRAM_SENT
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	652	&& datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	653	&& datagram->index == datagram_index
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	654	&& datagram->data_size == data_size) {
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	655	matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	656	break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	657	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	658	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	659
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	660	// no matching datagram was found
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	661	if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	662	master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	663	ec_master_output_stats(master);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	664	cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	665	continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	666	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	667
345 beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	668	// copy received data into the datagram memory
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	669	memcpy(datagram->data, cur_data, data_size);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	670	cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	671
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	672	// set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	673	datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	674	cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	675
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	676	// dequeue the received datagram
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	677	datagram->state = EC_DATAGRAM_RECEIVED;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	678	datagram->cycles_received = master->device->cycles_isr;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	679	datagram->jiffies_received = master->device->jiffies_isr;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	680	list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	681	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	682	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	683
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	684	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	685
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	686	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	687	Output statistics in cyclic mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	688	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	689	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	690	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	691
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	692	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	693	{
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	694	if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	695	master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	696
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	697	if (master->stats.timeouts) {
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	698	EC_WARN("%i datagram%s TIMED OUT!\n", master->stats.timeouts,
189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	699	master->stats.timeouts == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	700	master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	701	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	702	if (master->stats.corrupted) {
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	703	EC_WARN("%i frame%s CORRUPTED!\n", master->stats.corrupted,
189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	704	master->stats.corrupted == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	705	master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	706	}
332 e16093374dfd New statistic outputs to avoid blasting the logs. Florian Pose <fp@igh-essen.com> parents: 331 diff changeset	707	if (master->stats.skipped) {
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	708	EC_WARN("%i datagram%s SKIPPED!\n", master->stats.skipped,
189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	709	master->stats.skipped == 1 ? "" : "s");
332 e16093374dfd New statistic outputs to avoid blasting the logs. Florian Pose <fp@igh-essen.com> parents: 331 diff changeset	710	master->stats.skipped = 0;
e16093374dfd New statistic outputs to avoid blasting the logs. Florian Pose <fp@igh-essen.com> parents: 331 diff changeset	711	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	712	if (master->stats.unmatched) {
396 189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	713	EC_WARN("%i datagram%s UNMATCHED!\n", master->stats.unmatched,
189909f92019 Minor output changes. Florian Pose <fp@igh-essen.com> parents: 382 diff changeset	714	master->stats.unmatched == 1 ? "" : "s");
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	715	master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	716	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	717	}
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	718	}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	719
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	720	/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	721
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	722	/**
306 45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	723	Idle mode function.
45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	724	*/
45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	725
318 5f35e74124d1 Renamed ec_master_idle() to ec_master_idle_run(). Florian Pose <fp@igh-essen.com> parents: 313 diff changeset	726	void ec_master_idle_run(void data /< master pointer /)
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	727	{
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	728	ec_master_t master = (ec_master_t ) data;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	729	cycles_t cycles_start, cycles_end;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	730
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	731	// aquire master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	732	spin_lock_bh(&master->internal_lock);
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	733
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	734	cycles_start = get_cycles();
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	735	ecrt_master_receive(master);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	736
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	737	// execute master state machine
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	738	ec_fsm_exec(&master->fsm);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	739
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	740	ecrt_master_send(master);
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	741	cycles_end = get_cycles();
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	742
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	743	// release master lock
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	744	spin_unlock_bh(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	745
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	746	master->idle_cycle_times[master->idle_cycle_time_pos]
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	747	= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	748	master->idle_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	749	master->idle_cycle_time_pos %= HZ;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	750
306 45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	751	if (master->mode == EC_MASTER_MODE_IDLE)
45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	752	queue_delayed_work(master->workqueue, &master->idle_work, 1);
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	753	}
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	754
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	755	/*****************************************************************************/
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	756
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	757	/**
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	758	Initializes a sync manager configuration page with EEPROM data.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	759	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	760	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	761
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	762	void ec_sync_config(const ec_sii_sync_t sync, /< sync manager /
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	763	const ec_slave_t slave, /< EtherCAT slave /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	764	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	765	)
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	766	{
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	767	size_t sync_size;
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	768
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	769	sync_size = ec_slave_calc_sync_size(slave, sync);
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	770
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	771	if (slave->master->debug_level) {
414 60cd2fcc71ee Added enable bit to sync manager debugging. Florian Pose <fp@igh-essen.com> parents: 413 diff changeset	772	EC_DBG("Slave %3i, SM %i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",
413 a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	773	slave->ring_position, sync->index, sync->physical_start_address,
414 60cd2fcc71ee Added enable bit to sync manager debugging. Florian Pose <fp@igh-essen.com> parents: 413 diff changeset	774	sync_size, sync->control_register, sync->enable);
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	775	}
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	776
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	777	EC_WRITE_U16(data, sync->physical_start_address);
298 d491d1f84ebc Prefer EEPROM sync manager information for config. Florian Pose <fp@igh-essen.com> parents: 295 diff changeset	778	EC_WRITE_U16(data + 2, sync_size);
136 a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	779	EC_WRITE_U8 (data + 4, sync->control_register);
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	780	EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	781	EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	782	}
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	783
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	784	/*****************************************************************************/
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	785
a03a684cac89 Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	786	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	787	Initializes an FMMU configuration page.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	788	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	789	*/
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	void ec_fmmu_config(const ec_fmmu_t fmmu, /< FMMU /
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	792	const ec_slave_t slave, /< EtherCAT slave /
195 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	{
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	796	size_t sync_size;
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	797
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	798	sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);
ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	799
412 2e50ddc3e777 Added FMMU debugging. Florian Pose <fp@igh-essen.com> parents: 408 diff changeset	800	if (slave->master->debug_level) {
413 a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	801	EC_DBG("Slave %3i, FMMU %2i:"
a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	802	" LogAddr 0x%08X, Size %3i, PhysAddr 0x%04X, Dir %s\n",
a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	803	slave->ring_position, fmmu->index, fmmu->logical_start_address,
a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	804	sync_size, fmmu->sync->physical_start_address,
a7144fdf14f5 Improved SM and FMMU debugging output. Florian Pose <fp@igh-essen.com> parents: 412 diff changeset	805	((fmmu->sync->control_register & 0x04) ? "out" : "in"));
412 2e50ddc3e777 Added FMMU debugging. Florian Pose <fp@igh-essen.com> parents: 408 diff changeset	806	}
2e50ddc3e777 Added FMMU debugging. Florian Pose <fp@igh-essen.com> parents: 408 diff changeset	807
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	808	EC_WRITE_U32(data, fmmu->logical_start_address);
275 ba51285d4ef6 Variable-sized data fields, BK1120. Florian Pose <fp@igh-essen.com> parents: 274 diff changeset	809	EC_WRITE_U16(data + 4, sync_size); // size of fmmu
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	810	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	811	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	812	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	813	EC_WRITE_U8 (data + 10, 0x00); // physical start bit
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	814	EC_WRITE_U8 (data + 11, ((fmmu->sync->control_register & 0x04)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	815	? 0x02 : 0x01));
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	816	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	817	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	818	}
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	819
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	820	/*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	821
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	822	/**
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	823	Formats master information for SysFS read access.
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	824	\return number of bytes written
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	825	*/
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	826
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	827	ssize_t ec_master_info(ec_master_t master, /< EtherCAT master /
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	828	char buffer /< memory to store data /
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	829	)
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	830	{
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	831	off_t off = 0;
336 360e5287c888 EoE rate statistics. Florian Pose <fp@igh-essen.com> parents: 335 diff changeset	832	ec_eoe_t *eoe;
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	833	uint32_t cur, sum, min, max, pos, i;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	834
444 31223539fc00 Compiler flag -DSVNREV only for module.c to avoid unnecessary recompiling. Florian Pose <fp@igh-essen.com> parents: 441 diff changeset	835	off += sprintf(buffer + off, "\nVersion: %s", ec_master_version_str);
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	836	off += sprintf(buffer + off, "\nMode: ");
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	837	switch (master->mode) {
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	838	case EC_MASTER_MODE_ORPHANED:
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	839	off += sprintf(buffer + off, "ORPHANED");
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	840	break;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	841	case EC_MASTER_MODE_IDLE:
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	842	off += sprintf(buffer + off, "IDLE");
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	843	break;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	844	case EC_MASTER_MODE_OPERATION:
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	845	off += sprintf(buffer + off, "OPERATION");
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	846	break;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	847	}
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	848
339 a3a4ee854bd8 Minor changes. Florian Pose <fp@igh-essen.com> parents: 337 diff changeset	849	off += sprintf(buffer + off, "\nSlaves: %i\n",
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	850	master->slave_count);
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	851
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	852	off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	853
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	854	sum = 0;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	855	min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	856	max = 0;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	857	pos = master->idle_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	858	for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	859	cur = master->idle_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	860	sum += cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	861	if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	862	if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	863	}
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	864	off += sprintf(buffer + off, " Idle cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	865	min, sum / HZ, (sum * 100 / HZ) % 100, max);
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	866
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	867	sum = 0;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	868	min = 0xFFFFFFFF;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	869	max = 0;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	870	pos = master->eoe_cycle_time_pos;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	871	for (i = 0; i < HZ; i++) {
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	872	cur = master->eoe_cycle_times[(i + pos) % HZ];
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	873	sum += cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	874	if (cur < min) min = cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	875	if (cur > max) max = cur;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	876	}
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	877	off += sprintf(buffer + off, " EoE cycle: %u / %u.%u / %u\n",
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	878	min, sum / HZ, (sum * 100 / HZ) % 100, max);
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	879
336 360e5287c888 EoE rate statistics. Florian Pose <fp@igh-essen.com> parents: 335 diff changeset	880	if (!list_empty(&master->eoe_handlers))
339 a3a4ee854bd8 Minor changes. Florian Pose <fp@igh-essen.com> parents: 337 diff changeset	881	off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
336 360e5287c888 EoE rate statistics. Florian Pose <fp@igh-essen.com> parents: 335 diff changeset	882	list_for_each_entry(eoe, &master->eoe_handlers, list) {
341 f8aa65e05ff4 Added EoE rate in KB/s to master info. Florian Pose <fp@igh-essen.com> parents: 339 diff changeset	883	off += sprintf(buffer + off, " %s: %u / %u (%u KB/s)\n",
f8aa65e05ff4 Added EoE rate in KB/s to master info. Florian Pose <fp@igh-essen.com> parents: 339 diff changeset	884	eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
f8aa65e05ff4 Added EoE rate in KB/s to master info. Florian Pose <fp@igh-essen.com> parents: 339 diff changeset	885	((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
336 360e5287c888 EoE rate statistics. Florian Pose <fp@igh-essen.com> parents: 335 diff changeset	886	}
360e5287c888 EoE rate statistics. Florian Pose <fp@igh-essen.com> parents: 335 diff changeset	887
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	888	off += sprintf(buffer + off, "\n");
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	889
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	890	return off;
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	891	}
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	892
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	893	/*****************************************************************************/
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	894
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	895	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	896	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	897	\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	898	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	899
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	900	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	901	struct attribute attr, /< attribute /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	902	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	903	)
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	904	{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	905	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	906
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	907	if (attr == &attr_info) {
2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	908	return ec_master_info(master, buffer);
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 188 diff changeset	909	}
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	910	else if (attr == &attr_debug_level) {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	911	return sprintf(buffer, "%i\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	912	}
313 ba324d82dfd3 Reading of eeprom_write_enable. Florian Pose <fp@igh-essen.com> parents: 306 diff changeset	913	else if (attr == &attr_eeprom_write_enable) {
ba324d82dfd3 Reading of eeprom_write_enable. Florian Pose <fp@igh-essen.com> parents: 306 diff changeset	914	return sprintf(buffer, "%i\n", master->eeprom_write_enable);
ba324d82dfd3 Reading of eeprom_write_enable. Florian Pose <fp@igh-essen.com> parents: 306 diff changeset	915	}
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	916
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	917	return 0;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	918	}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	919
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	920	/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	921
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	922	/**
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	923	Formats attribute data for SysFS write access.
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	924	\return number of bytes processed, or negative error code
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	925	*/
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	926
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	927	ssize_t ec_store_master_attribute(struct kobject kobj, /< slave's kobject /
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	928	struct attribute attr, /< attribute /
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	929	const char buffer, /< memory with data /
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	930	size_t size /*< size of data to store /
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	931	)
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	932	{
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	933	ec_master_t *master = container_of(kobj, ec_master_t, kobj);
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	934
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	935	if (attr == &attr_eeprom_write_enable) {
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	936	if (!strcmp(buffer, "1\n")) {
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	937	master->eeprom_write_enable = 1;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	938	EC_INFO("Slave EEPROM writing enabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	939	return size;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	940	}
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	941	else if (!strcmp(buffer, "0\n")) {
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	942	master->eeprom_write_enable = 0;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	943	EC_INFO("Slave EEPROM writing disabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	944	return size;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	945	}
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	946
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	947	EC_ERR("Invalid value for eeprom_write_enable!\n");
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	948
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	949	if (master->eeprom_write_enable) {
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	950	master->eeprom_write_enable = 0;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	951	EC_INFO("Slave EEPROM writing disabled.\n");
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	952	}
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	953	}
303 03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	954	else if (attr == &attr_debug_level) {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	955	if (!strcmp(buffer, "0\n")) {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	956	master->debug_level = 0;
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	957	}
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	958	else if (!strcmp(buffer, "1\n")) {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	959	master->debug_level = 1;
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	960	}
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	961	else if (!strcmp(buffer, "2\n")) {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	962	master->debug_level = 2;
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	963	}
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	964	else {
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	965	EC_ERR("Invalid debug level value!\n");
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	966	return -EINVAL;
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	967	}
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	968
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	969	EC_INFO("Master debug level set to %i.\n", master->debug_level);
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	970	return size;
03fd45bc13ef SysFS entry for debug level. Florian Pose <fp@igh-essen.com> parents: 298 diff changeset	971	}
268 4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	972
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	973	return -EINVAL;
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	974	}
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	975
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	976	/*****************************************************************************/
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	977
4f9c149fb71f EEPROM write enable SysFS entry. Florian Pose <fp@igh-essen.com> parents: 261 diff changeset	978	/**
326 ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	979	Starts Ethernet-over-EtherCAT processing on demand.
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	980	*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	981
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	982	void ec_master_eoe_start(ec_master_t master /< EtherCAT master /)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	983	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	984	ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	985	ec_slave_t *slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	986	unsigned int coupled, found;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	987
326 ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	988	if (master->eoe_running \|\| master->eoe_checked) return;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	989
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	990	master->eoe_checked = 1;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	991
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	992	// if the locking callbacks are not set in operation mode,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	993	// the EoE timer my not be started.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	994	if (master->mode == EC_MASTER_MODE_OPERATION
326 ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	995	&& (!master->request_cb \|\| !master->release_cb)) {
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	996	EC_INFO("No EoE processing because of missing locking callbacks.\n");
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	997	return;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	998	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	999
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1000	// decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1001	list_for_each_entry(eoe, &master->eoe_handlers, list)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1002	eoe->slave = NULL;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1003
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1004	// couple a free EoE handler to every EoE-capable slave
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1005	coupled = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1006	list_for_each_entry(slave, &master->slaves, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1007	if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1008
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1009	found = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1010	list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1011	if (eoe->slave) continue;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1012	eoe->slave = slave;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1013	found = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1014	coupled++;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1015	EC_INFO("Coupling device %s to slave %i.\n",
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1016	eoe->dev->name, slave->ring_position);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1017	if (eoe->opened)
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1018	ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1019	else
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1020	ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
253 6dd3e49dbb85 Fixed bug with coupling multiple EoE handlers. Florian Pose <fp@igh-essen.com> parents: 252 diff changeset	1021	break;
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1022	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1023
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1024	if (!found) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1025	EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1026	ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1027	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1028	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1029
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1030	if (!coupled) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1031	EC_INFO("No EoE handlers coupled.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1032	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1033	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1034
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1035	EC_INFO("Starting EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1036	master->eoe_running = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1037
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1038	// start EoE processing
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1039	master->eoe_timer.expires = jiffies + 10;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1040	add_timer(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1041	return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1042	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1043
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1044	/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1045
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1046	/**
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1047	Stops the Ethernet-over-EtherCAT processing.
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1048	*/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1049
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1050	void ec_master_eoe_stop(ec_master_t master /< EtherCAT master /)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1051	{
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1052	ec_eoe_t *eoe;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1053
326 ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	1054	master->eoe_checked = 0;
ddb48b173680 Fixed bug with ec_master_eoe_start() does new coupling all the time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	1055
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1056	if (!master->eoe_running) return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1057
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1058	EC_INFO("Stopping EoE processing.\n");
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1059
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1060	del_timer_sync(&master->eoe_timer);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1061
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1062	// decouple all EoE handlers
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1063	list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1064	if (eoe->slave) {
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1065	ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_PREOP);
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1066	eoe->slave = NULL;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1067	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1068	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1069
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1070	master->eoe_running = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1071	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1072
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1073	/*****************************************************************************/
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1074
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1075	/**
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1076	Does the Ethernet-over-EtherCAT processing.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1077	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1078
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1079	void ec_master_eoe_run(unsigned long data /*< master pointer /)
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 204 diff changeset	1080	{
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 204 diff changeset	1081	ec_master_t master = (ec_master_t ) data;
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1082	ec_eoe_t *eoe;
235 f973808540a6 No master locking, if no EoE devices are "up". Florian Pose <fp@igh-essen.com> parents: 228 diff changeset	1083	unsigned int active = 0;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1084	cycles_t cycles_start, cycles_end;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1085	unsigned long restart_jiffies;
235 f973808540a6 No master locking, if no EoE devices are "up". Florian Pose <fp@igh-essen.com> parents: 228 diff changeset	1086
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1087	list_for_each_entry(eoe, &master->eoe_handlers, list) {
235 f973808540a6 No master locking, if no EoE devices are "up". Florian Pose <fp@igh-essen.com> parents: 228 diff changeset	1088	if (ec_eoe_active(eoe)) active++;
f973808540a6 No master locking, if no EoE devices are "up". Florian Pose <fp@igh-essen.com> parents: 228 diff changeset	1089	}
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1090	if (!active) goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1091
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1092	// aquire master lock...
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1093	if (master->mode == EC_MASTER_MODE_OPERATION) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1094	// request_cb must return 0, if the lock has been aquired!
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1095	if (master->request_cb(master->cb_data))
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1096	goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1097	}
306 45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	1098	else if (master->mode == EC_MASTER_MODE_IDLE) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1099	spin_lock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1100	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1101	else
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1102	goto queue_timer;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1103
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1104	// actual EoE processing
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1105	cycles_start = get_cycles();
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1106	ecrt_master_receive(master);
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	1107
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1108	list_for_each_entry(eoe, &master->eoe_handlers, list) {
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1109	ec_eoe_run(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1110	}
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	1111
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1112	ecrt_master_send(master);
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1113	cycles_end = get_cycles();
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1114
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1115	// release lock...
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1116	if (master->mode == EC_MASTER_MODE_OPERATION) {
228 ec516cfa207e Added EC_EOE_FREQUENCY Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	1117	master->release_cb(master->cb_data);
ec516cfa207e Added EC_EOE_FREQUENCY Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	1118	}
306 45886de3db87 Renamed FREERUN mode to IDLE mode. Florian Pose <fp@igh-essen.com> parents: 305 diff changeset	1119	else if (master->mode == EC_MASTER_MODE_IDLE) {
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1120	spin_unlock(&master->internal_lock);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1121	}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1122
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	1123	master->eoe_cycle_times[master->eoe_cycle_time_pos]
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1124	= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
335 1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	1125	master->eoe_cycle_time_pos++;
1e37c856b74e Better EoE and Idle timing measurement. Florian Pose <fp@igh-essen.com> parents: 334 diff changeset	1126	master->eoe_cycle_time_pos %= HZ;
334 2be97e069602 Master information, timing. Florian Pose <fp@igh-essen.com> parents: 332 diff changeset	1127
251 c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	1128	queue_timer:
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1129	restart_jiffies = HZ / EC_EOE_FREQUENCY;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1130	if (!restart_jiffies) restart_jiffies = 1;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1131	master->eoe_timer.expires += restart_jiffies;
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	1132	add_timer(&master->eoe_timer);
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1133	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1134
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1135	/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1136
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1137	/**
441 ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1138	*/
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1139
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1140	void ec_master_check_sdo(unsigned long data /*< master pointer /)
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1141	{
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1142	ec_master_t master = (ec_master_t ) data;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1143
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1144	if (master->sdo_seq_master != master->sdo_seq_user) {
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1145	master->sdo_timer.expires = jiffies + 10;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1146	add_timer(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1147	return;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1148	}
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1149
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1150	// master has processed the request
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1151	complete(&master->sdo_complete);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1152	}
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1153
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1154	/*****************************************************************************/
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1155
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up(). Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	1156	/**
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1157	Calculates Advanced Position Adresses.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1158	*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1159
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1160	void ec_master_calc_addressing(ec_master_t master /< EtherCAT master /)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1161	{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1162	uint16_t coupler_index, coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1163	uint16_t reverse_coupler_index, current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1164	ec_slave_t *slave;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1165
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1166	coupler_index = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1167	reverse_coupler_index = 0xFFFF;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1168	current_coupler_index = 0x0000;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1169	coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1170
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1171	list_for_each_entry(slave, &master->slaves, list) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1172	if (ec_slave_is_coupler(slave)) {
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1173	if (slave->sii_alias)
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1174	current_coupler_index = reverse_coupler_index--;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1175	else
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1176	current_coupler_index = coupler_index++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1177	coupler_subindex = 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1178	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1179
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1180	slave->coupler_index = current_coupler_index;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1181	slave->coupler_subindex = coupler_subindex;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1182	coupler_subindex++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1183	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1184	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1185
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1186	/*****************************************************************************/
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1187
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1188	/**
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1189	Measures the time, a frame is on the bus.
377 ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1190	\return 0 in case of success, else < 0
ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1191	*/
ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1192
ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1193	int ec_master_measure_bus_time(ec_master_t *master)
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1194	{
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1195	ec_datagram_t datagram;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1196	uint32_t cur, sum, min, max, i;
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1197
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1198	ec_datagram_init(&datagram);
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1199
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1200	if (ec_datagram_brd(&datagram, 0x130, 2)) {
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1201	EC_ERR("Failed to allocate datagram for bus time measuring.\n");
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1202	ec_datagram_clear(&datagram);
377 ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1203	return -1;
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1204	}
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1205
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1206	ecrt_master_receive(master);
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1207
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1208	sum = 0;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1209	min = 0xFFFFFFFF;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1210	max = 0;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1211
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1212	for (i = 0; i < 100; i++) {
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1213	ec_master_queue_datagram(master, &datagram);
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1214	ecrt_master_send(master);
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1215
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1216	while (1) {
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1217	ecrt_master_receive(master);
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1218
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1219	if (datagram.state == EC_DATAGRAM_RECEIVED) {
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1220	break;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1221	}
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1222	else if (datagram.state == EC_DATAGRAM_ERROR) {
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1223	EC_WARN("Failed to measure bus time.\n");
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1224	goto error;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1225	}
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1226	else if (datagram.state == EC_DATAGRAM_TIMED_OUT) {
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1227	EC_WARN("Timeout while measuring bus time.\n");
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1228	goto error;
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1229	}
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1230	}
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1231
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1232	cur = (unsigned int) (datagram.cycles_received
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1233	- datagram.cycles_sent) * 1000 / cpu_khz;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1234	sum += cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1235	if (cur > max) max = cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1236	if (cur < min) min = cur;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1237	}
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1238
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1239	EC_INFO("Bus time is (min/avg/max) %u / %u.%u / %u us.\n",
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1240	min, sum / 100, sum % 100, max);
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1241	ec_datagram_clear(&datagram);
377 ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1242	return 0;
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1243
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1244	error:
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1245	ec_datagram_clear(&datagram);
377 ecac8252f114 Changes in ecrt_request_master(); minor output changes. Florian Pose <fp@igh-essen.com> parents: 361 diff changeset	1246	return -1;
330 b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1247	}
b984763cecc2 Measure bus time. Florian Pose <fp@igh-essen.com> parents: 326 diff changeset	1248
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	1249	/******************************************************************************
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1250	* Realtime interface
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	1251	*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	1252
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	1253	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1254	Creates a domain.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1255	\return pointer to new domain on success, else NULL
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1256	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1257	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1258
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1259	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	1260	{
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1261	ec_domain_t domain, last_domain;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1262	unsigned int index;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1263
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1264	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	1265	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	1266	goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1267	}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1268
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1269	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	1270	else {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1271	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	1272	index = last_domain->index + 1;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1273	}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1274
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1275	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	1276	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	1277	goto out_return;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1278	}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1279
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1280	if (kobject_add(&domain->kobj)) {
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1281	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	1282	goto out_put;
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1283	}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1284
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	1285	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	1286	return domain;
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1287
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1288	out_put:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1289	kobject_put(&domain->kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1290	out_return:
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 176 diff changeset	1291	return NULL;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1292	}
61 cd014255f94f register_slave_list() und Bugfix in deactivate_slaves() Florian Pose <fp@igh-essen.com> parents: 58 diff changeset	1293
74 9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1294	/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	1295
61 cd014255f94f register_slave_list() und Bugfix in deactivate_slaves() Florian Pose <fp@igh-essen.com> parents: 58 diff changeset	1296	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1297	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	1298	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	1299	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	1300	is operational.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1301	\return 0 in case of success, else < 0
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1302	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1303	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1304
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1305	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	1306	{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1307	uint32_t domain_offset;
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 82 diff changeset	1308	ec_domain_t *domain;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1309	ec_fsm_t *fsm = &master->fsm;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1310	ec_slave_t *slave;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1311
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1312	// allocate all domains
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1313	domain_offset = 0;
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	1314	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	1315	if (ec_domain_alloc(domain, domain_offset)) {
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	1316	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	1317	return -1;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1318	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1319	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	1320	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1321
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1322	// execute master FSM until termination
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	1323	while (ec_fsm_exec(fsm)) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1324	ec_master_sync_io(master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1325	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1326
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1327	if (!ec_fsm_success(fsm)) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1328	EC_ERR("Error in master state machine.\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1329	return -1;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1330	}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1331
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1332	// check, if all slaves have been configured
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1333	list_for_each_entry(slave, &master->slaves, list) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1334	if (slave->error_flag \|\| !slave->online) {
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1335	EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1336	return -1;
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1337	}
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1338	}
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1339
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1340	return 0;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1341	}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1342
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1343	/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1344
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	1345	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1346	Resets all slaves to INIT state.
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	1347	This method is deprecated and will disappear in the next version
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	1348	of the realtime interface. The functionality is moved to
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 448 diff changeset	1349	ecrt_master_release().
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1350	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1351	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1352
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1353	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	1354	{
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1355	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 133 diff changeset	1356
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1357	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1358
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1359	/**
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1360	Sends queued datagrams and waits for their reception.
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1361	*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1362
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1363	void ec_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	1364	{
345 beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1365	ec_datagram_t *datagram;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1366	unsigned int datagrams_waiting;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1367
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1368	// send datagrams
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1369	ecrt_master_send(master);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	1370
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1371	while (1) { // active waiting
345 beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1372	ecrt_master_receive(master); // receive and dequeue datagrams
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1373
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1374	// count number of datagrams still waiting for response
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1375	datagrams_waiting = 0;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1376	list_for_each_entry(datagram, &master->datagram_queue, queue) {
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1377	datagrams_waiting++;
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1378	}
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1379
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1380	// if there are no more datagrams waiting, abort loop.
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing. Florian Pose <fp@igh-essen.com> parents: 344 diff changeset	1381	if (!datagrams_waiting) break;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1382	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1383	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1384
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1385	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1386
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1387	/**
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1388	Asynchronous sending of datagrams.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1389	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1390	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1391
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1392	void ecrt_master_send(ec_master_t master /< EtherCAT master /)
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1393	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1394	ec_datagram_t datagram, n;
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1395
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1396	if (unlikely(!master->device->link_state)) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1397	// link is down, no datagram can be sent
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1398	list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1399	datagram->state = EC_DATAGRAM_ERROR;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1400	list_del_init(&datagram->queue);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1401	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1402
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1403	// query link state
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1404	ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1405	return;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1406	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1407
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1408	// send frames
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1409	ec_master_send_datagrams(master);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1410	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1411
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1412	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1413
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1414	/**
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1415	Asynchronous receiving of datagrams.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1416	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1417	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1418
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1419	void ecrt_master_receive(ec_master_t master /< EtherCAT master /)
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1420	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1421	ec_datagram_t datagram, next;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1422	cycles_t cycles_timeout;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1423
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1424	// receive datagrams
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1425	ec_device_call_isr(master->device);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1426
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1427	cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000);
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	1428
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1429	// dequeue all datagrams that timed out
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1430	list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1431	switch (datagram->state) {
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1432	case EC_DATAGRAM_QUEUED:
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1433	if (master->device->cycles_isr
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1434	- datagram->cycles_queued > cycles_timeout) {
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1435	list_del_init(&datagram->queue);
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1436	datagram->state = EC_DATAGRAM_TIMED_OUT;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1437	master->stats.timeouts++;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1438	ec_master_output_stats(master);
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1439	}
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1440	break;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1441	case EC_DATAGRAM_SENT:
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1442	if (master->device->cycles_isr
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1443	- datagram->cycles_sent > cycles_timeout) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1444	list_del_init(&datagram->queue);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1445	datagram->state = EC_DATAGRAM_TIMED_OUT;
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	1446	master->stats.timeouts++;
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	1447	ec_master_output_stats(master);
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	1448	}
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1449	break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1450	default:
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1451	break;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1452	}
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1453	}
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1454	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1455
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1456	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1457
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1458	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1459	Prepares synchronous IO.
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1460	Queues all domain datagrams and sends them. Then waits a certain time, so
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1461	that ecrt_master_receive() can be called securely.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1462	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1463	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1464
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1465	void ecrt_master_prepare(ec_master_t master /< EtherCAT master /)
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1466	{
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1467	ec_domain_t *domain;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1468	cycles_t cycles_start, cycles_end, cycles_timeout;
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1469
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 291 diff changeset	1470	// queue datagrams of all domains
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1471	list_for_each_entry(domain, &master->domains, list)
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1472	ec_domain_queue_datagrams(domain);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1473
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1474	ecrt_master_send(master);
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1475
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1476	cycles_start = get_cycles();
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1477	cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us / (cpu_khz / 1000);
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1478
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1479	// active waiting
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1480	while (1) {
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	1481	udelay(100);
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1482	cycles_end = get_cycles();
5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 341 diff changeset	1483	if (cycles_end - cycles_start >= cycles_timeout) break;
113 a3dbd6bc8fce Do-Schleifen ersetzt. Florian Pose <fp@igh-essen.com> parents: 111 diff changeset	1484	}
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1485	}
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1486
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1487	/*****************************************************************************/
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1488
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	1489	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1490	Does all cyclic master work.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1491	\ingroup RealtimeInterface
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1492	*/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1493
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1494	void ecrt_master_run(ec_master_t master /< EtherCAT master /)
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1495	{
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	1496	// output statistics
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1497	ec_master_output_stats(master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1498
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 444 diff changeset	1499	// execute master state machine in a loop
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 430 diff changeset	1500	ec_fsm_exec(&master->fsm);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1501	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1502
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1503	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1504
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1505	/**
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1506	Translates an ASCII coded bus-address to a slave pointer.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1507	These are the valid addressing schemes:
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1508	- \a "X" = the X. slave on the bus,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1509	- \a "X:Y" = the Y. slave after the X. branch (bus coupler),
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1510	- \a "#X" = the slave with alias X,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1511	- \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1512	X and Y are zero-based indices and may be provided in hexadecimal or octal
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1513	notation (with respective prefix).
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1514	\return pointer to the slave on success, else NULL
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1515	\ingroup RealtimeInterface
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1516	*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1517
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1518	ec_slave_t ecrt_master_get_slave(const ec_master_t master, /*< Master /
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1519	const char address /< address string /
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1520	)
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1521	{
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1522	unsigned long first, second;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1523	char remainder, remainder2;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1524	unsigned int alias_requested, alias_found;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1525	ec_slave_t alias_slave = NULL, slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1526
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1527	if (!address \|\| address[0] == 0) return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1528
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1529	alias_requested = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1530	if (address[0] == '#') {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1531	alias_requested = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1532	address++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1533	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1534
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1535	first = simple_strtoul(address, &remainder, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1536	if (remainder == address) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1537	EC_ERR("Slave address \"%s\" - First number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1538	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1539	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1540
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1541	if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1542	alias_found = 0;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1543	list_for_each_entry(alias_slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1544	if (alias_slave->sii_alias == first) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1545	alias_found = 1;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1546	break;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1547	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1548	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1549	if (!alias_found) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1550	EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1551	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1552	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1553	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1554
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1555	if (!remainder[0]) { // absolute position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1556	if (alias_requested) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1557	return alias_slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1558	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1559	else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1560	list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1561	if (slave->ring_position == first) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1562	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1563	EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1564	address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1565	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1566	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1567	else if (remainder[0] == ':') { // field position
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1568	remainder++;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1569	second = simple_strtoul(remainder, &remainder2, 0);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1570
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1571	if (remainder2 == remainder) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1572	EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1573	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1574	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1575
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1576	if (remainder2[0]) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1577	EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1578	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1579	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1580
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1581	if (alias_requested) {
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1582	if (!ec_slave_is_coupler(alias_slave)) {
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1583	EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1584	" in colon mode.\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1585	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1586	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1587	list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1588	if (slave->coupler_index == alias_slave->coupler_index
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1589	&& slave->coupler_subindex == second)
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1590	return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1591	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1592	EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1593	" following!\n", address, alias_slave->ring_position,
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1594	second);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1595	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1596	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1597	else {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1598	list_for_each_entry(slave, &master->slaves, list) {
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1599	if (slave->coupler_index == first
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1600	&& slave->coupler_subindex == second) return slave;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1601	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1602	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1603	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1604	else
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1605	EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1606
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1607	return NULL;
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1608	}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1609
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1610	/*****************************************************************************/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1611
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	1612	/**
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1613	Sets the locking callbacks.
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	1614	The request_cb function must return zero, to allow another instance
07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	1615	(the EoE process for example) to access the master. Non-zero means,
07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 214 diff changeset	1616	that access is forbidden at this time.
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1617	\ingroup RealtimeInterface
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1618	*/
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1619
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1620	void ecrt_master_callbacks(ec_master_t master, /< EtherCAT master /
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1621	int (request_cb)(void ), /*< request lock CB /
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1622	void (release_cb)(void ), /*< release lock CB /
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1623	void cb_data /< data parameter /
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1624	)
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1625	{
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1626	master->request_cb = request_cb;
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1627	master->release_cb = release_cb;
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1628	master->cb_data = cb_data;
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1629	}
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1630
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1631	/*****************************************************************************/
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 203 diff changeset	1632
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1633	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1634
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1635	EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1636	EXPORT_SYMBOL(ecrt_master_activate);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	1637	EXPORT_SYMBOL(ecrt_master_deactivate);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1638	EXPORT_SYMBOL(ecrt_master_prepare);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1639	EXPORT_SYMBOL(ecrt_master_send);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 321 diff changeset	1640	EXPORT_SYMBOL(ecrt_master_receive);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	1641	EXPORT_SYMBOL(ecrt_master_run);
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 204 diff changeset	1642	EXPORT_SYMBOL(ecrt_master_callbacks);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 136 diff changeset	1643	EXPORT_SYMBOL(ecrt_master_get_slave);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 39 diff changeset	1644
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1645	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1646
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	1647	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 27 Oct 2006 09:46:42 +0000
changeset 451	cd6b819c2351
parent 449	3caf8ff4d8a2
child 456	dea14706efc2
permissions	-rw-r--r--