master/device.c
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2589 2b9c78543663
permissions -rw-r--r--
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT device methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/skbuff.h>
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#include <linux/if_ether.h>
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#include <linux/netdevice.h>
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#include "device.h"
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#include "master.h"
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#ifdef EC_DEBUG_RING
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#define timersub(a, b, result) \
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    do { \
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        (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
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        (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
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        if ((result)->tv_usec < 0) { \
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            --(result)->tv_sec; \
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            (result)->tv_usec += 1000000; \
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        } \
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    } while (0)
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#endif
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/*****************************************************************************/
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/** Constructor.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_device_init(
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        ec_device_t *device, /**< EtherCAT device */
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        ec_master_t *master /**< master owning the device */
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        )
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{
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    int ret;
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    unsigned int i;
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    struct ethhdr *eth;
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#ifdef EC_DEBUG_IF
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    char ifname[10];
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    char mb = 'x';
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#endif
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    device->master = master;
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    device->dev = NULL;
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    device->poll = NULL;
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    device->module = NULL;
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    device->open = 0;
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    device->link_state = 0;
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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        device->tx_skb[i] = NULL;
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    }
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    device->tx_ring_index = 0;
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#ifdef EC_HAVE_CYCLES
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    device->cycles_poll = 0;
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#endif
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#ifdef EC_DEBUG_RING
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    device->timeval_poll.tv_sec = 0;
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    device->timeval_poll.tv_usec = 0;
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#endif
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    device->jiffies_poll = 0;
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    ec_device_clear_stats(device);
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#ifdef EC_DEBUG_RING
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    for (i = 0; i < EC_DEBUG_RING_SIZE; i++) {
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        ec_debug_frame_t *df = &device->debug_frames[i];
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        df->dir = TX;
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        df->t.tv_sec = 0;
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        df->t.tv_usec = 0;
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        memset(df->data, 0, EC_MAX_DATA_SIZE);
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        df->data_size = 0;
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    }
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#endif
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#ifdef EC_DEBUG_RING
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    device->debug_frame_index = 0;
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    device->debug_frame_count = 0;
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#endif
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#ifdef EC_DEBUG_IF
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    if (device == &master->devices[EC_DEVICE_MAIN]) {
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        mb = 'm';
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    }
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    else {
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        mb = 'b';
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    }
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    sprintf(ifname, "ecdbg%c%u", mb, master->index);
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    ret = ec_debug_init(&device->dbg, device, ifname);
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    if (ret < 0) {
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        EC_MASTER_ERR(master, "Failed to init debug device!\n");
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        goto out_return;
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   126
    }
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   127
#endif
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   128
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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   130
        if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) {
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   131
            EC_MASTER_ERR(master, "Error allocating device socket buffer!\n");
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            ret = -ENOMEM;
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   133
            goto out_tx_ring;
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   134
        }
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   135
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   136
        // add Ethernet-II-header
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   137
        skb_reserve(device->tx_skb[i], ETH_HLEN);
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   138
        eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN);
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        eth->h_proto = htons(0x88A4);
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        memset(eth->h_dest, 0xFF, ETH_ALEN);
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   141
    }
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   143
    return 0;
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   144
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   145
out_tx_ring:
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   146
    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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   147
        if (device->tx_skb[i]) {
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   148
            dev_kfree_skb(device->tx_skb[i]);
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   149
        }
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   150
    }
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#ifdef EC_DEBUG_IF
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    ec_debug_clear(&device->dbg);
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out_return:
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   154
#endif
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    return ret;
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   156
}
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   157
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   158
/*****************************************************************************/
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   159
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   160
/** Destructor.
1011
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   161
 */
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   162
void ec_device_clear(
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   163
        ec_device_t *device /**< EtherCAT device */
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   164
        )
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{
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   166
    unsigned int i;
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   167
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   168
    if (device->open) {
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   169
        ec_device_close(device);
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   170
    }
693
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   171
    for (i = 0; i < EC_TX_RING_SIZE; i++)
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   172
        dev_kfree_skb(device->tx_skb[i]);
679
62fc387ec928 Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
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   173
#ifdef EC_DEBUG_IF
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   174
    ec_debug_clear(&device->dbg);
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   175
#endif
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   176
}
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   177
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   178
/*****************************************************************************/
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   179
1011
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   180
/** Associate with net_device.
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   181
 */
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   182
void ec_device_attach(
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   183
        ec_device_t *device, /**< EtherCAT device */
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   184
        struct net_device *net_dev, /**< net_device structure */
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   185
        ec_pollfunc_t poll, /**< pointer to device's poll function */
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   186
        struct module *module /**< the device's module */
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   187
        )
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   188
{
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   189
    unsigned int i;
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   190
    struct ethhdr *eth;
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diff changeset
   191
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17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   192
    ec_device_detach(device); // resets fields
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diff changeset
   193
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   194
    device->dev = net_dev;
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
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diff changeset
   195
    device->poll = poll;
539
7bb92fca28ef Fixed invalid module pointer in device structure.
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diff changeset
   196
    device->module = module;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff changeset
   197
693
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
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diff changeset
   198
    for (i = 0; i < EC_TX_RING_SIZE; i++) {
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
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diff changeset
   199
        device->tx_skb[i]->dev = net_dev;
759
fe32d4cdc9c3 Fixed source MAC address setting bug.
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diff changeset
   200
        eth = (struct ethhdr *) (device->tx_skb[i]->data);
693
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
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diff changeset
   201
        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
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diff changeset
   202
    }
1305
de3fcbb6773e Create debug interface with address of physical device on attachment.
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diff changeset
   203
de3fcbb6773e Create debug interface with address of physical device on attachment.
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diff changeset
   204
#ifdef EC_DEBUG_IF
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   205
    ec_debug_register(&device->dbg, net_dev);
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diff changeset
   206
#endif
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   207
}
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   208
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   209
/*****************************************************************************/
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   210
1011
a0759d0dded4 Improved ecdev_offer().
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   211
/** Disconnect from net_device.
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   212
 */
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   213
void ec_device_detach(
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   214
        ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   215
        )
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   216
{
693
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   217
    unsigned int i;
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diff changeset
   218
1305
de3fcbb6773e Create debug interface with address of physical device on attachment.
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diff changeset
   219
#ifdef EC_DEBUG_IF
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   220
    ec_debug_unregister(&device->dbg);
de3fcbb6773e Create debug interface with address of physical device on attachment.
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diff changeset
   221
#endif
de3fcbb6773e Create debug interface with address of physical device on attachment.
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parents: 1040
diff changeset
   222
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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   223
    device->dev = NULL;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   224
    device->poll = NULL;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   225
    device->module = NULL;
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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parents: 73
diff changeset
   226
    device->open = 0;
96
080b46eb6e2d Link-State im Device.
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diff changeset
   227
    device->link_state = 0; // down
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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parents: 1856
diff changeset
   228
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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diff changeset
   229
    ec_device_clear_stats(device);
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
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diff changeset
   230
2589
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diff changeset
   231
    for (i = 0; i < EC_TX_RING_SIZE; i++) {
693
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
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diff changeset
   232
        device->tx_skb[i]->dev = NULL;
2589
2b9c78543663 Reverted default branch to stable-1.5.
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parents: 2028
diff changeset
   233
    }
0
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   234
}
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   235
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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parents: 33
diff changeset
   236
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   237
1011
a0759d0dded4 Improved ecdev_offer().
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   238
/** Opens the EtherCAT device.
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   239
 *
a0759d0dded4 Improved ecdev_offer().
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   240
 * \return 0 in case of success, else < 0
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   241
 */
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   242
int ec_device_open(
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   243
        ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
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diff changeset
   244
        )
0
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   245
{
1313
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   246
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   247
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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diff changeset
   248
    if (!device->dev) {
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1907
diff changeset
   249
        EC_MASTER_ERR(device->master, "No net_device to open!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   250
        return -ENODEV;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 70
diff changeset
   251
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 70
diff changeset
   252
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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diff changeset
   253
    if (device->open) {
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1907
diff changeset
   254
        EC_MASTER_WARN(device->master, "Device already opened!\n");
91
0120d6214948 Code-Dokumentation angepasst.
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parents: 84
diff changeset
   255
        return 0;
0120d6214948 Code-Dokumentation angepasst.
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parents: 84
diff changeset
   256
    }
0120d6214948 Code-Dokumentation angepasst.
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parents: 84
diff changeset
   257
96
080b46eb6e2d Link-State im Device.
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    device->link_state = 0;
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    ec_device_clear_stats(device);
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_open(device->dev);
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#else
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    ret = device->dev->open(device->dev);
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#endif
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    if (!ret)
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        device->open = 1;
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    return ret;
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}
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/*****************************************************************************/
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/** Stops the EtherCAT device.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_device_close(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int ret;
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    if (!device->dev) {
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        EC_MASTER_ERR(device->master, "No device to close!\n");
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        return -ENODEV;
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    }
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    if (!device->open) {
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        EC_MASTER_WARN(device->master, "Device already closed!\n");
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        return 0;
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    }
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    ret = device->dev->netdev_ops->ndo_stop(device->dev);
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#else
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    ret = device->dev->stop(device->dev);
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#endif
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    if (!ret)
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        device->open = 0;
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    return ret;
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}
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/*****************************************************************************/
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/** Returns a pointer to the device's transmit memory.
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 *
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 * \return pointer to the TX socket buffer
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 */
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uint8_t *ec_device_tx_data(
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        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    /* cycle through socket buffers, because otherwise there is a race
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     * condition, if multiple frames are sent and the DMA is not scheduled in
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     * between. */
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    device->tx_ring_index++;
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    device->tx_ring_index %= EC_TX_RING_SIZE;
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    return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN;
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}
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/*****************************************************************************/
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/** Sends the content of the transmit socket buffer.
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 *
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 * Cuts the socket buffer content to the (now known) size, and calls the
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 * start_xmit() function of the assigned net_device.
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 */
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void ec_device_send(
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        ec_device_t *device, /**< EtherCAT device */
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        size_t size /**< number of bytes to send */
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        )
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{
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    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];
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    // set the right length for the data
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    skb->len = ETH_HLEN + size;
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    if (unlikely(device->master->debug_level > 1)) {
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        EC_MASTER_DBG(device->master, 2, "Sending frame:\n");
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        ec_print_data(skb->data, ETH_HLEN + size);
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    }
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    // start sending
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
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    if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) ==
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            NETDEV_TX_OK)
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#else
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    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK)
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#endif
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   353
    {
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        device->tx_count++;
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        device->master->device_stats.tx_count++;
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        device->tx_bytes += ETH_HLEN + size;
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        device->master->device_stats.tx_bytes += ETH_HLEN + size;
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   358
#ifdef EC_DEBUG_IF
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        ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);
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#endif
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#ifdef EC_DEBUG_RING
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        ec_device_debug_ring_append(
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                device, TX, skb->data + ETH_HLEN, size);
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#endif
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    } else {
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        device->tx_errors++;
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    }
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}
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/*****************************************************************************/
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/** Clears the frame statistics.
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 */
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void ec_device_clear_stats(
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   375
        ec_device_t *device /**< EtherCAT device */
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        )
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{
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    unsigned int i;
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   380
    // zero frame statistics
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   381
    device->tx_count = 0;
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    device->last_tx_count = 0;
1856
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   383
    device->rx_count = 0;
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   384
    device->last_rx_count = 0;
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   385
    device->tx_bytes = 0;
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   386
    device->last_tx_bytes = 0;
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   387
    device->rx_bytes = 0;
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diff changeset
   388
    device->last_rx_bytes = 0;
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents: 1856
diff changeset
   389
    device->tx_errors = 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   390
1856
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   391
    for (i = 0; i < EC_RATE_COUNT; i++) {
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents: 1856
diff changeset
   392
        device->tx_frame_rates[i] = 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   393
        device->rx_frame_rates[i] = 0;
1857
ed8b490b5bc3 Output tx errors and tx rate in byte/s.
Florian Pose <fp@igh-essen.com>
parents: 1856
diff changeset
   394
        device->tx_byte_rates[i] = 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   395
        device->rx_byte_rates[i] = 0;
1856
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   396
    }
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   397
}
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   398
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   399
/*****************************************************************************/
10175d5f35ea Fixed clearing frame statistics on link down.
Florian Pose <fp@igh-essen.com>
parents: 1854
diff changeset
   400
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   401
#ifdef EC_DEBUG_RING
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   402
/** Appends frame data to the debug ring.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   403
 */
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   404
void ec_device_debug_ring_append(
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   405
        ec_device_t *device, /**< EtherCAT device */
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   406
        ec_debug_frame_dir_t dir, /**< direction */
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   407
        const void *data, /**< frame data */
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   408
        size_t size /**< data size */
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   409
        )
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   410
{
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   411
    ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index];
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   412
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   413
    df->dir = dir;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   414
    if (dir == TX) {
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   415
        do_gettimeofday(&df->t);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   416
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   417
    else {
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   418
        df->t = device->timeval_poll;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   419
    }
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   420
    memcpy(df->data, data, size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   421
    df->data_size = size;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   422
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   423
    device->debug_frame_index++;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   424
    device->debug_frame_index %= EC_DEBUG_RING_SIZE;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   425
    if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE))
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   426
        device->debug_frame_count++;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   427
}
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   428
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   429
/*****************************************************************************/
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   430
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   431
/** Outputs the debug ring.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   432
 */
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   433
void ec_device_debug_ring_print(
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   434
        const ec_device_t *device /**< EtherCAT device */
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   435
        )
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   436
{
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   437
    int i;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   438
    unsigned int ring_index;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   439
    const ec_debug_frame_t *df;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   440
    struct timeval t0, diff;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   441
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   442
    // calculate index of the newest frame in the ring to get its time
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   443
    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE - 1)
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   444
        % EC_DEBUG_RING_SIZE;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   445
    t0 = device->debug_frames[ring_index].t;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   446
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   447
    EC_MASTER_DBG(device->master, 1, "Debug ring %u:\n", ring_index);
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   448
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   449
    // calculate index of the oldest frame in the ring
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   450
    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   451
            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   452
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   453
    for (i = 0; i < device->debug_frame_count; i++) {
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   454
        df = &device->debug_frames[ring_index];
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   455
        timersub(&t0, &df->t, &diff);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   456
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   457
        EC_MASTER_DBG(device->master, 1, "Frame %u, dt=%u.%06u s, %s:\n",
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   458
                i + 1 - device->debug_frame_count,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   459
                (unsigned int) diff.tv_sec,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   460
                (unsigned int) diff.tv_usec,
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   461
                (df->dir == TX) ? "TX" : "RX");
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   462
        ec_print_data(df->data, df->data_size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   463
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   464
        ring_index++;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   465
        ring_index %= EC_DEBUG_RING_SIZE;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   466
    }
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   467
}
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   468
#endif
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   469
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   470
/*****************************************************************************/
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   471
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   472
/** Calls the poll function of the assigned net_device.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   473
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   474
 * The master itself works without using interrupts. Therefore the processing
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   475
 * of received data and status changes of the network device has to be
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   476
 * done by the master calling the ISR "manually".
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   477
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   478
void ec_device_poll(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   479
        ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   480
        )
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   481
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   482
#ifdef EC_HAVE_CYCLES
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   483
    device->cycles_poll = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   484
#endif
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   485
    device->jiffies_poll = jiffies;
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   486
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   487
    do_gettimeofday(&device->timeval_poll);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   488
#endif
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   489
    device->poll(device->dev);
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   490
}
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   491
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   492
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   493
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   494
/** Update device statistics.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   495
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   496
void ec_device_update_stats(
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   497
        ec_device_t *device /**< EtherCAT device */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   498
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   499
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   500
    unsigned int i;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   501
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   502
    s32 tx_frame_rate = (device->tx_count - device->last_tx_count) * 1000;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   503
    s32 rx_frame_rate = (device->rx_count - device->last_rx_count) * 1000;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   504
    s32 tx_byte_rate = (device->tx_bytes - device->last_tx_bytes);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   505
    s32 rx_byte_rate = (device->rx_bytes - device->last_rx_bytes);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   506
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   507
    /* Low-pass filter:
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   508
     *      Y_n = y_(n - 1) + T / tau * (x - y_(n - 1))   | T = 1
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   509
     *   -> Y_n += (x - y_(n - 1)) / tau
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   510
     */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   511
    for (i = 0; i < EC_RATE_COUNT; i++) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   512
        s32 n = rate_intervals[i];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   513
        device->tx_frame_rates[i] +=
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   514
            (tx_frame_rate - device->tx_frame_rates[i]) / n;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   515
        device->rx_frame_rates[i] +=
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   516
            (rx_frame_rate - device->rx_frame_rates[i]) / n;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   517
        device->tx_byte_rates[i] +=
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   518
            (tx_byte_rate - device->tx_byte_rates[i]) / n;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   519
        device->rx_byte_rates[i] +=
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   520
            (rx_byte_rate - device->rx_byte_rates[i]) / n;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   521
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   522
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   523
    device->last_tx_count = device->tx_count;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   524
    device->last_rx_count = device->rx_count;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   525
    device->last_tx_bytes = device->tx_bytes;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   526
    device->last_rx_bytes = device->rx_bytes;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   527
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   528
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   529
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   530
 *  Device interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   531
 *****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   532
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   533
/** Withdraws an EtherCAT device from the master.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   534
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   535
 * The device is disconnected from the master and all device ressources
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   536
 * are freed.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   537
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   538
 * \attention Before calling this function, the ecdev_stop() function has
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   539
 *            to be called, to be sure that the master does not use the device
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   540
 *            any more.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   541
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   542
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   543
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   544
{
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   545
    ec_master_t *master = device->master;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   546
    char dev_str[20], mac_str[20];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   547
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   548
    ec_mac_print(device->dev->dev_addr, mac_str);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   549
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   550
    if (device == &master->devices[EC_DEVICE_MAIN]) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   551
        sprintf(dev_str, "main");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   552
    } else if (device == &master->devices[EC_DEVICE_BACKUP]) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   553
        sprintf(dev_str, "backup");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   554
    } else {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   555
        EC_MASTER_WARN(master, "%s() called with unknown device %s!\n",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   556
                __func__, mac_str);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   557
        sprintf(dev_str, "UNKNOWN");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   558
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   559
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   560
    EC_MASTER_INFO(master, "Releasing %s device %s.\n", dev_str, mac_str);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   561
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   562
    down(&master->device_sem);
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   563
    ec_device_detach(device);
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   564
    up(&master->device_sem);
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   565
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   566
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   567
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   568
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   569
/** Opens the network device and makes the master enter IDLE phase.
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   570
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   571
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   572
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   573
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   574
int ecdev_open(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   575
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   576
    int ret;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   577
    ec_master_t *master = device->master;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   578
    unsigned int all_open = 1, dev_idx;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   579
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   580
    ret = ec_device_open(device);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   581
    if (ret) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   582
        EC_MASTER_ERR(master, "Failed to open device!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   583
        return ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   584
    }
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1305
diff changeset
   585
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   586
    for (dev_idx = EC_DEVICE_MAIN;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   587
            dev_idx < ec_master_num_devices(device->master); dev_idx++) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   588
        if (!master->devices[dev_idx].open) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   589
            all_open = 0;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   590
            break;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   591
        }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   592
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   593
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   594
    if (all_open) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   595
        ret = ec_master_enter_idle_phase(device->master);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   596
        if (ret) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   597
            EC_MASTER_ERR(device->master, "Failed to enter IDLE phase!\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   598
            return ret;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   599
        }
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   600
    }
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   601
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   602
    return 0;
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   603
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   604
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   605
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   606
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   607
/** Makes the master leave IDLE phase and closes the network device.
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   608
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   609
 * \return 0 on success, else < 0
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   610
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   611
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   612
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   613
{
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   614
    ec_master_t *master = device->master;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   615
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   616
    if (master->phase == EC_IDLE) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   617
        ec_master_leave_idle_phase(master);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   618
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   619
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   620
    if (ec_device_close(device)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   621
        EC_MASTER_WARN(master, "Failed to close device!\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   622
    }
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   623
}
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   624
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   625
/*****************************************************************************/
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   626
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   627
/** Accepts a received frame.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   628
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   629
 * Forwards the received data to the master. The master will analyze the frame
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   630
 * and dispatch the received commands to the sending instances.
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   631
 *
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   632
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   633
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   634
void ecdev_receive(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   635
        ec_device_t *device, /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   636
        const void *data, /**< pointer to received data */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   637
        size_t size /**< number of bytes received */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   638
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 70
diff changeset
   639
{
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   640
    const void *ec_data = data + ETH_HLEN;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   641
    size_t ec_size = size - ETH_HLEN;
1521
2180c608e250 Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   642
2180c608e250 Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   643
    if (unlikely(!data)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   644
        EC_MASTER_WARN(device->master, "%s() called with NULL data.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   645
                __func__);
1521
2180c608e250 Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   646
        return;
2180c608e250 Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   647
    }
2180c608e250 Check for NULL pointer in ecdev_receive().
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   648
493
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   649
    device->rx_count++;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   650
    device->master->device_stats.rx_count++;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   651
    device->rx_bytes += size;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   652
    device->master->device_stats.rx_bytes += size;
493
b17c95eac6b2 Added frame counter.
Florian Pose <fp@igh-essen.com>
parents: 398
diff changeset
   653
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   654
    if (unlikely(device->master->debug_level > 1)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   655
        EC_MASTER_DBG(device->master, 2, "Received frame:\n");
1554
e07a0f8de03d Print complete Ethernet frame during debug.
Florian Pose <fp@igh-essen.com>
parents: 1521
diff changeset
   656
        ec_print_data(data, size);
231
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   657
    }
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   658
679
62fc387ec928 Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
Florian Pose <fp@igh-essen.com>
parents: 670
diff changeset
   659
#ifdef EC_DEBUG_IF
231
767548c75bf3 Added debug interface for network monitors.
Florian Pose <fp@igh-essen.com>
parents: 211
diff changeset
   660
    ec_debug_send(&device->dbg, data, size);
392
eaee3c8d6ae0 Debug interfaces not compiled by default.
Florian Pose <fp@igh-essen.com>
parents: 331
diff changeset
   661
#endif
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   662
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   663
    ec_device_debug_ring_append(device, RX, ec_data, ec_size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   664
#endif
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   665
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   666
    ec_master_receive_datagrams(device->master, device, ec_data, ec_size);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   667
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   668
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   669
/*****************************************************************************/
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   670
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   671
/** Sets a new link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   672
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   673
 * If the device notifies the master about the link being down, the master
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   674
 * will not try to send frames using this device.
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   675
 *
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   676
 * \ingroup DeviceInterface
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   677
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   678
void ecdev_set_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   679
        ec_device_t *device, /**< EtherCAT device */
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   680
        uint8_t state /**< new link state */
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   681
        )
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   682
{
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   683
    if (unlikely(!device)) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   684
        EC_WARN("ecdev_set_link() called with null device!\n");
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   685
        return;
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   686
    }
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 152
diff changeset
   687
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   688
    if (likely(state != device->link_state)) {
96
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   689
        device->link_state = state;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   690
        EC_MASTER_INFO(device->master,
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   691
                "Link state of %s changed to %s.\n",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   692
                device->dev->name, (state ? "UP" : "DOWN"));
96
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   693
    }
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   694
}
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   695
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   696
/*****************************************************************************/
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   697
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   698
/** Reads the link state.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   699
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   700
 * \ingroup DeviceInterface
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   701
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   702
 * \return Link state.
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   703
 */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   704
uint8_t ecdev_get_link(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   705
        const ec_device_t *device /**< EtherCAT device */
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   706
        )
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   707
{
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   708
    if (unlikely(!device)) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   709
        EC_WARN("ecdev_get_link() called with null device!\n");
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   710
        return 0;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   711
    }
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   712
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   713
    return device->link_state;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   714
}
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   715
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   716
/*****************************************************************************/
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   717
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   718
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   719
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   720
EXPORT_SYMBOL(ecdev_withdraw);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   721
EXPORT_SYMBOL(ecdev_open);
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   722
EXPORT_SYMBOL(ecdev_close);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   723
EXPORT_SYMBOL(ecdev_receive);
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   724
EXPORT_SYMBOL(ecdev_get_link);
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   725
EXPORT_SYMBOL(ecdev_set_link);
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
   726
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   727
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   728
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   729
/*****************************************************************************/