master/module.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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/** \file
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 * EtherCAT master driver module.
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 */
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/device.h>
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#include <linux/err.h>
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#include "globals.h"
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#include "master.h"
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#include "device.h"
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/*****************************************************************************/
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#define MAX_MASTERS 32 /**< Maximum number of masters. */
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/*****************************************************************************/
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int __init ec_init_module(void);
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void __exit ec_cleanup_module(void);
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static int ec_mac_parse(uint8_t *, const char *, int);
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/*****************************************************************************/
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static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */
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static unsigned int master_count; /**< Number of masters. */
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static char *backup_devices[MAX_MASTERS]; /**< Backup devices parameter. */
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static unsigned int backup_count; /**< Number of backup devices. */
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static unsigned int debug_level;  /**< Debug level parameter. */
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static ec_master_t *masters; /**< Array of masters. */
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static struct semaphore master_sem; /**< Master semaphore. */
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dev_t device_number; /**< Device number for master cdevs. */
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struct class *class; /**< Device class. */
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static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */
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char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */
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/*****************************************************************************/
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/** \cond */
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT master driver module");
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MODULE_LICENSE("GPL");
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MODULE_VERSION(EC_MASTER_VERSION);
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module_param_array(main_devices, charp, &master_count, S_IRUGO);
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MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");
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module_param_array(backup_devices, charp, &backup_count, S_IRUGO);
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MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");
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module_param_named(debug_level, debug_level, uint, S_IRUGO);
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MODULE_PARM_DESC(debug_level, "Debug level");
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/** \endcond */
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/*****************************************************************************/
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/** Module initialization.
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 *
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 * Initializes \a master_count masters.
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 * \return 0 on success, else < 0
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 */
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int __init ec_init_module(void)
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{
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    int i, ret = 0;
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    EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
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    sema_init(&master_sem, 1);
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    if (master_count) {
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        if (alloc_chrdev_region(&device_number,
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                    0, master_count, "EtherCAT")) {
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            EC_ERR("Failed to obtain device number(s)!\n");
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            ret = -EBUSY;
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            goto out_return;
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        }
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    }
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    class = class_create(THIS_MODULE, "EtherCAT");
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    if (IS_ERR(class)) {
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        EC_ERR("Failed to create device class.\n");
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        ret = PTR_ERR(class);
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        goto out_cdev;
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    }
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    // zero MAC addresses
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diff changeset
   123
    memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);
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diff changeset
   124
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   125
    // process MAC parameters
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   126
    for (i = 0; i < master_count; i++) {
1313
ed15eef57d5c Improved error case return codes of many functions.
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   127
        ret = ec_mac_parse(macs[i][0], main_devices[i], 0);
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   128
        if (ret)
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
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   129
            goto out_class;
2391
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diff changeset
   130
1313
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   131
        if (i < backup_count) {
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diff changeset
   132
            ret = ec_mac_parse(macs[i][1], backup_devices[i], 1);
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   133
            if (ret)
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   134
                goto out_class;
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   135
        }
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diff changeset
   136
    }
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
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diff changeset
   137
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
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diff changeset
   138
    // initialize static master variables
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
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   139
    ec_master_init_static();
2391
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   140
639
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   141
    if (master_count) {
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diff changeset
   142
        if (!(masters = kmalloc(sizeof(ec_master_t) * master_count,
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   143
                        GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   144
            EC_ERR("Failed to allocate memory"
d9cf40facbc4 Improved syslog macros.
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diff changeset
   145
                    " for EtherCAT masters.\n");
639
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   146
            ret = -ENOMEM;
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
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   147
            goto out_class;
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   148
        }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   149
    }
2391
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diff changeset
   150
639
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diff changeset
   151
    for (i = 0; i < master_count; i++) {
1313
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   152
        ret = ec_master_init(&masters[i], i, macs[i][0], macs[i][1],
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
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diff changeset
   153
                    device_number, class, debug_level);
1313
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1312
diff changeset
   154
        if (ret)
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   155
            goto out_free_masters;
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   156
    }
2391
8a84e2b14563 Removed whitespace.
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parents: 2087
diff changeset
   157
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   158
    EC_INFO("%u master%s waiting for devices.\n",
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   159
            master_count, (master_count == 1 ? "" : "s"));
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   160
    return ret;
127
e67c80a76de4 Code aufger?umt und kleines Speicherleck entdeckt.
Florian Pose <fp@igh-essen.com>
parents: 111
diff changeset
   161
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   162
out_free_masters:
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 954
diff changeset
   163
    for (i--; i >= 0; i--)
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 954
diff changeset
   164
        ec_master_clear(&masters[i]);
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
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diff changeset
   165
    kfree(masters);
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   166
out_class:
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
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diff changeset
   167
    class_destroy(class);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents: 919
diff changeset
   168
out_cdev:
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   169
    if (master_count)
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
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parents: 1011
diff changeset
   170
        unregister_chrdev_region(device_number, master_count);
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
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parents: 954
diff changeset
   171
out_return:
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   172
    return ret;
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   175
/*****************************************************************************/
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
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parents:
diff changeset
   176
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   177
/** Module cleanup.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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diff changeset
   178
 *
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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diff changeset
   179
 * Clears all master instances.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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diff changeset
   180
 */
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   181
void __exit ec_cleanup_module(void)
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   182
{
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   183
    unsigned int i;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   184
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   185
    for (i = 0; i < master_count; i++) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   186
        ec_master_clear(&masters[i]);
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   187
    }
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   188
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   189
    if (master_count)
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   190
        kfree(masters);
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   191
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   192
    class_destroy(class);
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   193
1012
89f87a901ce5 Create device class. Preparation for device numbers in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1011
diff changeset
   194
    if (master_count)
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 954
diff changeset
   195
        unregister_chrdev_region(device_number, master_count);
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   196
575
9a2121b500b1 Layed out device ID functionality in own files.
Florian Pose <fp@igh-essen.com>
parents: 573
diff changeset
   197
    EC_INFO("Master module cleaned up.\n");
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   200
/*****************************************************************************/
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   201
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   202
/** Get the number of masters.
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   203
 */
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   204
unsigned int ec_master_count(void)
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   205
{
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   206
    return master_count;
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   207
}
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1814
diff changeset
   208
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   209
/*****************************************************************************
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   210
 * MAC address functions
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   211
 ****************************************************************************/
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   212
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   213
/**
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   214
 * \return true, if two MAC addresses are equal.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   215
 */
840
64beeb6ce8e3 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   216
int ec_mac_equal(
64beeb6ce8e3 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   217
        const uint8_t *mac1, /**< First MAC address. */
64beeb6ce8e3 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   218
        const uint8_t *mac2 /**< Second MAC address. */
64beeb6ce8e3 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   219
        )
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   220
{
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   221
    unsigned int i;
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   222
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   223
    for (i = 0; i < ETH_ALEN; i++)
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   224
        if (mac1[i] != mac2[i])
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   225
            return 0;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   226
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   227
    return 1;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   228
}
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   229
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   230
/*****************************************************************************/
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   231
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   232
/** Maximum MAC string size.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   233
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   234
#define EC_MAX_MAC_STRING_SIZE (3 * ETH_ALEN)
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   235
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   236
/** Print a MAC address to a buffer.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   237
 *
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   238
 * The buffer size must be at least EC_MAX_MAC_STRING_SIZE.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   239
 *
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   240
 * \return number of bytes written.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   241
 */
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   242
ssize_t ec_mac_print(
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   243
        const uint8_t *mac, /**< MAC address */
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   244
        char *buffer /**< Target buffer. */
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 700
diff changeset
   245
        )
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   246
{
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   247
    off_t off = 0;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   248
    unsigned int i;
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   249
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   250
    for (i = 0; i < ETH_ALEN; i++) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   251
        off += sprintf(buffer + off, "%02X", mac[i]);
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   252
        if (i < ETH_ALEN - 1) off += sprintf(buffer + off, ":");
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   253
    }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   254
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   255
    return off;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   256
}
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/*****************************************************************************/
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   259
758
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/**
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   261
 * \return true, if the MAC address is all-zero.
8fa6f825eb7d Updated Doxygen documentation.
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diff changeset
   262
 */
840
64beeb6ce8e3 Added documentation.
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diff changeset
   263
int ec_mac_is_zero(
64beeb6ce8e3 Added documentation.
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diff changeset
   264
        const uint8_t *mac /**< MAC address. */
64beeb6ce8e3 Added documentation.
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   265
        )
639
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{
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   267
    unsigned int i;
2391
8a84e2b14563 Removed whitespace.
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   268
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   269
    for (i = 0; i < ETH_ALEN; i++)
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   270
        if (mac[i])
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            return 0;
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   273
    return 1;
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   274
}
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   275
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/*****************************************************************************/
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   277
758
8fa6f825eb7d Updated Doxygen documentation.
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   278
/**
8fa6f825eb7d Updated Doxygen documentation.
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   279
 * \return true, if the given MAC address is the broadcast address.
8fa6f825eb7d Updated Doxygen documentation.
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   280
 */
840
64beeb6ce8e3 Added documentation.
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   281
int ec_mac_is_broadcast(
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diff changeset
   282
        const uint8_t *mac /**< MAC address. */
64beeb6ce8e3 Added documentation.
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   283
        )
700
a6b61f1a062d Broadcast MAC address accepts first device.
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   284
{
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   285
    unsigned int i;
2391
8a84e2b14563 Removed whitespace.
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parents: 2087
diff changeset
   286
700
a6b61f1a062d Broadcast MAC address accepts first device.
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parents: 653
diff changeset
   287
    for (i = 0; i < ETH_ALEN; i++)
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   288
        if (mac[i] != 0xff)
a6b61f1a062d Broadcast MAC address accepts first device.
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parents: 653
diff changeset
   289
            return 0;
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   290
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   291
    return 1;
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   292
}
a6b61f1a062d Broadcast MAC address accepts first device.
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   293
a6b61f1a062d Broadcast MAC address accepts first device.
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   294
/*****************************************************************************/
a6b61f1a062d Broadcast MAC address accepts first device.
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diff changeset
   295
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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   296
/** Parse a MAC address from a string.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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diff changeset
   297
 *
2589
2b9c78543663 Reverted default branch to stable-1.5.
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   298
 * The MAC address must match the regular expression
758
8fa6f825eb7d Updated Doxygen documentation.
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diff changeset
   299
 * "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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diff changeset
   300
 *
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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   301
 * \return 0 on success, else < 0
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
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   302
 */
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   303
static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   304
{
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   305
    unsigned int i, value;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   306
    const char *orig = src;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   307
    char *rem;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   308
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   309
    if (!strlen(src)) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   310
        if (allow_empty){
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   311
            return 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
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parents: 2411
diff changeset
   312
        } else {
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   313
            EC_ERR("MAC address may not be empty.\n");
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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   314
            return -EINVAL;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   315
        }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   316
    }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   317
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   318
    for (i = 0; i < ETH_ALEN; i++) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   319
        value = simple_strtoul(src, &rem, 16);
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   320
        if (rem != src + 2
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   321
                || value > 0xFF
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   322
                || (i < ETH_ALEN - 1 && *rem != ':')) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   323
            EC_ERR("Invalid MAC address \"%s\".\n", orig);
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   324
            return -EINVAL;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   325
        }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   326
        mac[i] = value;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   327
        if (i < ETH_ALEN - 1) {
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   328
            src = rem + 1; // skip colon
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   329
        }
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   330
    }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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parents: 579
diff changeset
   331
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   332
    return 0;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   333
}
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   334
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   335
/*****************************************************************************/
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   336
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   337
/** Outputs frame contents for debugging purposes.
1584
cd9a68fd5b89 ec_print_data: show only the first 128 and the last 128 bytes of a data block
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   338
 * If the data block is larger than 256 bytes, only the first 128
cd9a68fd5b89 ec_print_data: show only the first 128 and the last 128 bytes of a data block
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   339
 * and the last 128 bytes will be shown
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   340
 */
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   341
void ec_print_data(const uint8_t *data, /**< pointer to data */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   342
                   size_t size /**< number of bytes to output */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   343
                   )
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   344
{
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   345
    unsigned int i;
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   346
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   347
    EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   348
    for (i = 0; i < size; i++) {
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   349
        printk("%02X ", data[i]);
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   350
1469
873e4ee3d5ec Improved newlines in debug data output.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   351
        if ((i + 1) % 16 == 0 && i < size - 1) {
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   352
            printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   353
            EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   354
        }
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   355
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   356
        if (i + 1 == 128 && size > 256) {
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   357
            printk("dropped %zu bytes\n", size - 128 - i);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1579
diff changeset
   358
            i = size - 128;
1584
cd9a68fd5b89 ec_print_data: show only the first 128 and the last 128 bytes of a data block
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
   359
            EC_DBG("");
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1579
diff changeset
   360
        }
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   361
    }
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   362
    printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   363
}
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   364
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   365
/*****************************************************************************/
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   366
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   367
/** Outputs frame contents and differences for debugging purposes.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   368
 */
196
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   369
void ec_print_data_diff(const uint8_t *d1, /**< first data */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   370
                        const uint8_t *d2, /**< second data */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   371
                        size_t size /** number of bytes to output */
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   372
                        )
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   373
{
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   374
    unsigned int i;
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   375
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   376
    EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   377
    for (i = 0; i < size; i++) {
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   378
        if (d1[i] == d2[i]) printk(".. ");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   379
        else printk("%02X ", d2[i]);
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   380
        if ((i + 1) % 16 == 0) {
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   381
            printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   382
            EC_DBG("");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   383
        }
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   384
    }
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   385
    printk("\n");
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   386
}
f8a1e9f364a3 Introduced version number define.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
   387
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   388
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   389
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   390
/** Prints slave states in clear text.
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   391
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   392
 * \return Size of the created string.
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   393
 */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   394
size_t ec_state_string(uint8_t states, /**< slave states */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   395
                       char *buffer, /**< target buffer
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 383
diff changeset
   396
                                       (min. EC_STATE_STRING_SIZE bytes) */
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   397
                       uint8_t multi /**< Show multi-state mask. */
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   398
                       )
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   399
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   400
    off_t off = 0;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   401
    unsigned int first = 1;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   402
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   403
    if (!states) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   404
        off += sprintf(buffer + off, "(unknown)");
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   405
        return off;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   406
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   407
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   408
    if (multi) { // multiple slaves
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   409
        if (states & EC_SLAVE_STATE_INIT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   410
            off += sprintf(buffer + off, "INIT");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   411
            first = 0;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   412
        }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   413
        if (states & EC_SLAVE_STATE_PREOP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   414
            if (!first) off += sprintf(buffer + off, ", ");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   415
            off += sprintf(buffer + off, "PREOP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   416
            first = 0;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   417
        }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   418
        if (states & EC_SLAVE_STATE_SAFEOP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   419
            if (!first) off += sprintf(buffer + off, ", ");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   420
            off += sprintf(buffer + off, "SAFEOP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   421
            first = 0;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   422
        }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   423
        if (states & EC_SLAVE_STATE_OP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   424
            if (!first) off += sprintf(buffer + off, ", ");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   425
            off += sprintf(buffer + off, "OP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   426
        }
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   427
    } else { // single slave
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   428
        if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_INIT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   429
            off += sprintf(buffer + off, "INIT");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   430
        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_PREOP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   431
            off += sprintf(buffer + off, "PREOP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   432
        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_BOOT) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   433
            off += sprintf(buffer + off, "BOOT");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   434
        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_SAFEOP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   435
            off += sprintf(buffer + off, "SAFEOP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   436
        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_OP) {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   437
            off += sprintf(buffer + off, "OP");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   438
        } else {
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   439
            off += sprintf(buffer + off, "(invalid)");
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   440
        }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   441
        first = 0;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   442
    }
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   443
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 383
diff changeset
   444
    if (states & EC_SLAVE_STATE_ACK_ERR) {
453
2ecaa53c6291 Changed output of ec_state_string() for error flag to "+ ERROR".
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   445
        if (!first) off += sprintf(buffer + off, " + ");
2ecaa53c6291 Changed output of ec_state_string() for error flag to "+ ERROR".
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
   446
        off += sprintf(buffer + off, "ERROR");
403
7bb931deccd9 Added EC_SLAVE_STATE_ACK_ERR to ec_state_string(); added EC_STATE_STRING_SIZE
Florian Pose <fp@igh-essen.com>
parents: 383
diff changeset
   447
    }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   448
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   449
    return off;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   450
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 249
diff changeset
   451
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   452
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   453
 *  Device interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   454
 *****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   455
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   456
/** Device names.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   457
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   458
const char *ec_device_names[2] = {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   459
    "main",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   460
    "backup"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   461
};
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   462
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   463
/** Offers an EtherCAT device to a certain master.
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   464
 *
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   465
 * The master decides, if it wants to use the device for EtherCAT operation,
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   466
 * or not. It is important, that the offered net_device is not used by the
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   467
 * kernel IP stack. If the master, accepted the offer, the address of the
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   468
 * newly created EtherCAT device is returned, else \a NULL is returned.
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   469
 *
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   470
 * \return Pointer to device, if accepted, or NULL if declined.
806
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   471
 * \ingroup DeviceInterface
ab8daaabbe48 Renamed master module parameters, re-formatted code documentation.
Florian Pose <fp@igh-essen.com>
parents: 794
diff changeset
   472
 */
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   473
ec_device_t *ecdev_offer(
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   474
        struct net_device *net_dev, /**< net_device to offer */
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   475
        ec_pollfunc_t poll, /**< device poll function */
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   476
        struct module *module /**< pointer to the module */
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   477
        )
91
0120d6214948 Code-Dokumentation angepasst.
Florian Pose <fp@igh-essen.com>
parents: 88
diff changeset
   478
{
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   479
    ec_master_t *master;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   480
    char str[EC_MAX_MAC_STRING_SIZE];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   481
    unsigned int i, dev_idx;
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   482
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   483
    for (i = 0; i < master_count; i++) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   484
        master = &masters[i];
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   485
        ec_mac_print(net_dev->dev_addr, str);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   486
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   487
        if (down_interruptible(&master->device_sem)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   488
            EC_MASTER_WARN(master, "%s() interrupted!\n", __func__);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   489
            return NULL;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   490
        }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   491
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   492
        for (dev_idx = EC_DEVICE_MAIN;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   493
                dev_idx < ec_master_num_devices(master); dev_idx++) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   494
            if (!master->devices[dev_idx].dev
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   495
                && (ec_mac_equal(master->macs[dev_idx], net_dev->dev_addr)
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   496
                    || ec_mac_is_broadcast(master->macs[dev_idx]))) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   497
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   498
                EC_INFO("Accepting %s as %s device for master %u.\n",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   499
                        str, ec_device_names[dev_idx != 0], master->index);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   500
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   501
                ec_device_attach(&master->devices[dev_idx],
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   502
                        net_dev, poll, module);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   503
                up(&master->device_sem);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   504
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   505
                snprintf(net_dev->name, IFNAMSIZ, "ec%c%u",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   506
                        ec_device_names[dev_idx != 0][0], master->index);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   507
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   508
                return &master->devices[dev_idx]; // offer accepted
700
a6b61f1a062d Broadcast MAC address accepts first device.
Florian Pose <fp@igh-essen.com>
parents: 653
diff changeset
   509
            }
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   510
        }
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   511
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   512
        up(&master->device_sem);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   513
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   514
        EC_MASTER_DBG(master, 1, "Master declined device %s.\n", str);
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   515
    }
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   516
1011
a0759d0dded4 Improved ecdev_offer().
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   517
    return NULL; // offer declined
497
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   518
}
04552130dd54 Re-introduced ecdev_open() and ecdev_close(), to avoid a race condition regarding the link state.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   519
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   520
/******************************************************************************
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   521
 * Application interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   522
 *****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   523
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   524
/** Request a master.
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   525
 *
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   526
 * Same as ecrt_request_master(), but with ERR_PTR() return value.
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   527
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   528
 * \return Requested master.
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   529
 */
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   530
ec_master_t *ecrt_request_master_err(
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   531
        unsigned int master_index /**< Master index. */
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   532
        )
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   533
{
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   534
    ec_master_t *master, *errptr = NULL;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   535
    unsigned int dev_idx = EC_DEVICE_MAIN;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   536
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   537
    EC_INFO("Requesting master %u...\n", master_index);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   538
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   539
    if (master_index >= master_count) {
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   540
        EC_ERR("Invalid master index %u.\n", master_index);
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   541
        errptr = ERR_PTR(-EINVAL);
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   542
        goto out_return;
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   543
    }
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 579
diff changeset
   544
    master = &masters[master_index];
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 161
diff changeset
   545
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   546
    if (down_interruptible(&master_sem)) {
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   547
        errptr = ERR_PTR(-EINTR);
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   548
        goto out_return;
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   549
    }
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   550
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   551
    if (master->reserved) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   552
        up(&master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   553
        EC_MASTER_ERR(master, "Master already in use!\n");
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   554
        errptr = ERR_PTR(-EBUSY);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   555
        goto out_return;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   556
    }
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   557
    master->reserved = 1;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   558
    up(&master_sem);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   559
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   560
    if (down_interruptible(&master->device_sem)) {
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   561
        errptr = ERR_PTR(-EINTR);
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
   562
        goto out_release;
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   563
    }
2391
8a84e2b14563 Removed whitespace.
Florian Pose <fp@igh-essen.com>
parents: 2087
diff changeset
   564
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1014
diff changeset
   565
    if (master->phase != EC_IDLE) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   566
        up(&master->device_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   567
        EC_MASTER_ERR(master, "Master still waiting for devices!\n");
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   568
        errptr = ERR_PTR(-ENODEV);
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   569
        goto out_release;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   570
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   571
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   572
    for (; dev_idx < ec_master_num_devices(master); dev_idx++) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   573
        ec_device_t *device = &master->devices[dev_idx];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   574
        if (!try_module_get(device->module)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   575
            up(&master->device_sem);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   576
            EC_MASTER_ERR(master, "Device module is unloading!\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   577
            errptr = ERR_PTR(-ENODEV);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   578
            goto out_module_put;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   579
        }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   580
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   581
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   582
    up(&master->device_sem);
381
006d3653701d Fixed race on duplicate device registering or device unregistering while requesting master.
Florian Pose <fp@igh-essen.com>
parents: 378
diff changeset
   583
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1014
diff changeset
   584
    if (ec_master_enter_operation_phase(master)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   585
        EC_MASTER_ERR(master, "Failed to enter OPERATION phase!\n");
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   586
        errptr = ERR_PTR(-EIO);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   587
        goto out_module_put;
377
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   588
    }
ecac8252f114 Changes in ecrt_request_master(); minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 361
diff changeset
   589
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   590
    EC_INFO("Successfully requested master %u.\n", master_index);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 64
diff changeset
   591
    return master;
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   592
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   593
 out_module_put:
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   594
    for (; dev_idx > 0; dev_idx--) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   595
        ec_device_t *device = &master->devices[dev_idx - 1];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   596
        module_put(device->module);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   597
    }
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   598
 out_release:
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   599
    master->reserved = 0;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   600
 out_return:
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   601
    return errptr;
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
}
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   604
/*****************************************************************************/
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   605
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   606
ec_master_t *ecrt_request_master(unsigned int master_index)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   607
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   608
    ec_master_t *master = ecrt_request_master_err(master_index);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   609
    return IS_ERR(master) ? NULL : master;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   610
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   611
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   612
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   613
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   614
void ecrt_release_master(ec_master_t *master)
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   615
{
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   616
    unsigned int dev_idx;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   617
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   618
    EC_MASTER_INFO(master, "Releasing master...\n");
531
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   619
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 954
diff changeset
   620
    if (!master->reserved) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   621
        EC_MASTER_WARN(master, "%s(): Master was was not requested!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   622
                __func__);
531
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   623
        return;
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   624
    }
8d9339e7453f Warn on duplicate master releasing.
Florian Pose <fp@igh-essen.com>
parents: 525
diff changeset
   625
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1014
diff changeset
   626
    ec_master_leave_operation_phase(master);
151
1961b674466c Plugfest: master_open()/close() ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 127
diff changeset
   627
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   628
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   629
            dev_idx++) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   630
        module_put(master->devices[dev_idx].module);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   631
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2411
diff changeset
   632
647
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   633
    master->reserved = 0;
dc556a8c8fed Replaced master variable 'atomic_t available' by integer and used
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   634
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   635
    EC_MASTER_INFO(master, "Released.\n");
33
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   636
}
f4171b8aadf8 Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents: 27
diff changeset
   637
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 34
diff changeset
   638
/*****************************************************************************/
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   639
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   640
unsigned int ecrt_version_magic(void)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   641
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   642
    return ECRT_VERSION_MAGIC;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   643
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   644
2087
366de1369558 Fixed malformed comment.
Florian Pose <fp@igh-essen.com>
parents: 2060
diff changeset
   645
/*****************************************************************************/
2054
3417bbc4ad2f First working RTDM Version,
Andreas Stewering-Bone <ab@igh-essen.com>
parents: 1930
diff changeset
   646
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   647
/** Global request state type translation table.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   648
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   649
 * Translates an internal request state to an external one.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   650
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   651
const ec_request_state_t ec_request_state_translation_table[] = {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   652
    EC_REQUEST_UNUSED,  // EC_INT_REQUEST_INIT,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   653
    EC_REQUEST_BUSY,    // EC_INT_REQUEST_QUEUED,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   654
    EC_REQUEST_BUSY,    // EC_INT_REQUEST_BUSY,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   655
    EC_REQUEST_SUCCESS, // EC_INT_REQUEST_SUCCESS,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   656
    EC_REQUEST_ERROR    // EC_INT_REQUEST_FAILURE
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   657
};
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   658
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   659
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   660
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   661
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   662
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   663
module_init(ec_init_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   664
module_exit(ec_cleanup_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   665
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 572
diff changeset
   666
EXPORT_SYMBOL(ecdev_offer);
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 954
diff changeset
   667
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   668
EXPORT_SYMBOL(ecrt_request_master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   669
EXPORT_SYMBOL(ecrt_release_master);
545
6c4322e118d6 Added EXPORT macro for ecrt_version_magic().
Florian Pose <fp@igh-essen.com>
parents: 541
diff changeset
   670
EXPORT_SYMBOL(ecrt_version_magic);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
   671
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   672
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   673
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   674
/*****************************************************************************/