author | Florian Pose <fp@igh-essen.com> |
Mon, 04 May 2009 12:10:11 +0000 | |
changeset 1435 | f1df39224f49 |
parent 1425 | c1322a8793c0 |
child 1436 | 08eaf72409bb |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT master structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_MASTER_H__ |
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#define __EC_MASTER_H__ |
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#include <linux/version.h> |
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#include <linux/list.h> |
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#include <linux/timer.h> |
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#include <linux/wait.h> |
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#include <linux/kthread.h> |
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) |
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#include <linux/semaphore.h> |
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#else |
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#include <asm/semaphore.h> |
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#endif |
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#include "device.h" |
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#include "domain.h" |
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#include "fsm_master.h" |
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#include "cdev.h" |
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/*****************************************************************************/ |
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/** EtherCAT master phase. |
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*/ |
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typedef enum { |
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EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device |
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attached. */ |
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EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master |
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is not in use, yet. */ |
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EC_OPERATION /**< Operation phase. The master was requested by a realtime |
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application. */ |
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} ec_master_phase_t; |
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/*****************************************************************************/ |
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/** Cyclic statistics. |
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*/ |
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typedef struct { |
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unsigned int timeouts; /**< datagram timeouts */ |
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unsigned int corrupted; /**< corrupted frames */ |
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unsigned int unmatched; /**< unmatched datagrams (received, but not |
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queued any longer) */ |
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unsigned long output_jiffies; /**< time of last output */ |
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} ec_stats_t; |
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/*****************************************************************************/ |
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/** EtherCAT master. |
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* |
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* Manages slaves, domains and IO. |
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*/ |
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struct ec_master { |
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unsigned int index; /**< Index. */ |
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unsigned int reserved; /**< \a True, if the master is in use. */ |
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ec_cdev_t cdev; /**< Master character device. */ |
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26) |
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struct device *class_device; /**< Master class device. */ |
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#else |
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struct class_device *class_device; /**< Master class device. */ |
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#endif |
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struct semaphore master_sem; /**< Master semaphore. */ |
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ec_device_t main_device; /**< EtherCAT main device. */ |
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const uint8_t *main_mac; /**< MAC address of main device. */ |
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ec_device_t backup_device; /**< EtherCAT backup device. */ |
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const uint8_t *backup_mac; /**< MAC address of backup device. */ |
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struct semaphore device_sem; /**< Device semaphore. */ |
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ec_fsm_master_t fsm; /**< Master state machine. */ |
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ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */ |
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ec_master_phase_t phase; /**< Master phase. */ |
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unsigned int injection_seq_fsm; /**< Datagram injection sequence number |
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for the FSM side. */ |
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unsigned int injection_seq_rt; /**< Datagram injection sequence number |
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for the realtime side. */ |
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Master information, timing.
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ec_slave_t *slaves; /**< Array of slaves on the bus. */ |
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unsigned int slave_count; /**< Number of slaves on the bus. */ |
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Removed configs_attached flag; changed return value of
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118 |
struct list_head configs; /**< List of slave configurations. */ |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
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|
119 |
|
1396
9d04cc08f40f
DC sync reference clock to application time. TBC...
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120 |
u64 app_time; /**< Time of the last ecrt_master_sync() call. */ |
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|
121 |
ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the |
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|
122 |
reference clock to the master clock. */ |
1394
e77728ddf0f9
Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
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|
123 |
ec_datagram_t sync_datagram; /**< Datagram used for DC drift |
e77728ddf0f9
Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
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|
124 |
compensation. */ |
1425
c1322a8793c0
Transition delay calculation. TBC...
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|
125 |
ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */ |
1394
e77728ddf0f9
Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
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|
126 |
|
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
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|
127 |
unsigned int scan_busy; /**< Current scan state. */ |
1029
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Renamed master 'mode' to 'phase'.
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|
128 |
unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */ |
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|
129 |
struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy |
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|
130 |
variable and the \a allow_scan flag. */ |
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|
131 |
wait_queue_head_t scan_queue; /**< Queue for processes that wait for |
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|
132 |
slave scanning. */ |
656
370aa8c2d1b1
Slave configuration exclusively from master thread; removed
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|
133 |
|
900
f8b5c6d21705
Removed bus validation; slave configuration during realtime operation;
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|
134 |
unsigned int config_busy; /**< State of slave configuration. */ |
1029
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Renamed master 'mode' to 'phase'.
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|
135 |
unsigned int allow_config; /**< \a True, if slave configuration is |
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|
136 |
allowed. */ |
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changeset
|
137 |
struct semaphore config_sem; /**< Semaphore protecting the \a config_busy |
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|
138 |
variable and the allow_config flag. */ |
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|
139 |
wait_queue_head_t config_queue; /**< Queue for processes that wait for |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
140 |
slave configuration. */ |
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Renamed master 'mode' to 'phase'.
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changeset
|
141 |
|
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Renamed master 'mode' to 'phase'.
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|
142 |
struct list_head datagram_queue; /**< Datagram queue. */ |
61ffe5f22306
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|
143 |
uint8_t datagram_index; /**< Current datagram index. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
144 |
|
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
145 |
struct list_head domains; /**< List of domains. */ |
241 | 146 |
|
1399
f79d4bb5b23a
Added debug_level module parameter. debug_level is now unsigned int.
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|
147 |
unsigned int debug_level; /**< Master debug level. */ |
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
148 |
ec_stats_t stats; /**< Cyclic statistics. */ |
61ffe5f22306
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|
149 |
unsigned int frames_timed_out; /**< There were frame timeouts in the last |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
150 |
call to ecrt_master_receive(). */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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diff
changeset
|
151 |
|
1241
794cbccdcd00
Moved threads to kthread interface.
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diff
changeset
|
152 |
struct task_struct *thread; /**< Master thread. */ |
241 | 153 |
|
715
f12ff7c08623
Added --enable-eoe conditional.
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|
154 |
#ifdef EC_EOE |
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
155 |
struct timer_list eoe_timer; /**< EoE timer object. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
156 |
unsigned int eoe_running; /**< \a True, if EoE processing is active. */ |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
157 |
struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */ |
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
158 |
#endif |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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diff
changeset
|
159 |
|
61ffe5f22306
Renamed master 'mode' to 'phase'.
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changeset
|
160 |
spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
161 |
int (*request_cb)(void *); /**< Lock request callback. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
162 |
void (*release_cb)(void *); /**< Lock release callback. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
163 |
void *cb_data; /**< Data parameter of locking callbacks. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
164 |
int (*ext_request_cb)(void *); /**< External lock request callback. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
165 |
void (*ext_release_cb)(void *); /**< External lock release callback. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
166 |
void *ext_cb_data; /**< Data parameter of external locking callbacks. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
167 |
|
61ffe5f22306
Renamed master 'mode' to 'phase'.
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changeset
|
168 |
struct list_head sii_requests; /**< SII write requests. */ |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
169 |
wait_queue_head_t sii_queue; /**< Wait queue for SII |
61ffe5f22306
Renamed master 'mode' to 'phase'.
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|
170 |
write requests from user space. */ |
601
d6d951b766e3
Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
171 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
172 |
struct list_head slave_sdo_requests; /**< SDO access requests. */ |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
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|
173 |
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests |
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
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diff
changeset
|
174 |
from user space. */ |
1200 | 175 |
|
1388
3c886ec376f5
Renamed phy_ commands to reg_.
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diff
changeset
|
176 |
struct list_head reg_requests; /**< Register requests. */ |
3c886ec376f5
Renamed phy_ commands to reg_.
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diff
changeset
|
177 |
wait_queue_head_t reg_queue; /**< Wait queue for register requests. */ |
1335
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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1327
diff
changeset
|
178 |
|
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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1327
diff
changeset
|
179 |
struct list_head foe_requests; /**< FoE write requests. */ |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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diff
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|
180 |
wait_queue_head_t foe_queue; /**< Wait queue for FoE |
09c6fce1ae45
merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
181 |
write requests from user space. */ |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
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54
diff
changeset
|
182 |
}; |
0 | 183 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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33
diff
changeset
|
184 |
/*****************************************************************************/ |
0 | 185 |
|
1279
6911450535b7
merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
186 |
// static funtions |
6911450535b7
merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
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1252
diff
changeset
|
187 |
void ec_master_init_static(void); |
6911450535b7
merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
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1252
diff
changeset
|
188 |
|
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
189 |
// master creation/deletion |
997
652180478e95
Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents:
992
diff
changeset
|
190 |
int ec_master_init(ec_master_t *, unsigned int, const uint8_t *, |
1399
f79d4bb5b23a
Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
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1396
diff
changeset
|
191 |
const uint8_t *, dev_t, struct class *, unsigned int); |
639
aa23c48dca2d
Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
192 |
void ec_master_clear(ec_master_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
193 |
|
1029
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1028
diff
changeset
|
194 |
// phase transitions |
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
1028
diff
changeset
|
195 |
int ec_master_enter_idle_phase(ec_master_t *); |
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
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1028
diff
changeset
|
196 |
void ec_master_leave_idle_phase(ec_master_t *); |
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
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1028
diff
changeset
|
197 |
int ec_master_enter_operation_phase(ec_master_t *); |
61ffe5f22306
Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
198 |
void ec_master_leave_operation_phase(ec_master_t *); |
191 | 199 |
|
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
664
diff
changeset
|
200 |
#ifdef EC_EOE |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
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246
diff
changeset
|
201 |
// EoE |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
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parents:
246
diff
changeset
|
202 |
void ec_master_eoe_start(ec_master_t *); |
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
203 |
void ec_master_eoe_stop(ec_master_t *); |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
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664
diff
changeset
|
204 |
#endif |
251
c1d0b63a9302
EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
205 |
|
446 | 206 |
// datagram IO |
331
17f58fe99511
Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents:
330
diff
changeset
|
207 |
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
286
diff
changeset
|
208 |
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *); |
0 | 209 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
210 |
// misc. |
1028
afdd4bdbb7ec
Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents:
1013
diff
changeset
|
211 |
void ec_master_attach_slave_configs(ec_master_t *); |
927
ffb7d1876ce0
Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
212 |
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t); |
1077
c95cd717b852
Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
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1075
diff
changeset
|
213 |
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t, |
c95cd717b852
Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents:
1075
diff
changeset
|
214 |
uint16_t); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
215 |
void ec_master_output_stats(ec_master_t *); |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
664
diff
changeset
|
216 |
#ifdef EC_EOE |
661
bc1de1362efb
Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
656
diff
changeset
|
217 |
void ec_master_clear_eoe_handlers(ec_master_t *); |
715
f12ff7c08623
Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents:
664
diff
changeset
|
218 |
#endif |
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
219 |
void ec_master_clear_slaves(ec_master_t *); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
306
diff
changeset
|
220 |
|
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
221 |
unsigned int ec_master_config_count(const ec_master_t *); |
1252
0b411da5fd24
Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents:
1250
diff
changeset
|
222 |
ec_slave_config_t *ec_master_get_config( |
0b411da5fd24
Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents:
1250
diff
changeset
|
223 |
const ec_master_t *, unsigned int); |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
224 |
const ec_slave_config_t *ec_master_get_config_const( |
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
225 |
const ec_master_t *, unsigned int); |
946
6ef20c5de875
Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents:
927
diff
changeset
|
226 |
unsigned int ec_master_domain_count(const ec_master_t *); |
6ef20c5de875
Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents:
927
diff
changeset
|
227 |
ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int); |
1078
fce58ba8a912
Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents:
1077
diff
changeset
|
228 |
const ec_domain_t *ec_master_find_domain_const(const ec_master_t *, |
fce58ba8a912
Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents:
1077
diff
changeset
|
229 |
unsigned int); |
946
6ef20c5de875
Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents:
927
diff
changeset
|
230 |
|
1399
f79d4bb5b23a
Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents:
1396
diff
changeset
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231 |
int ec_master_debug_level(ec_master_t *, unsigned int); |
956
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
946
diff
changeset
|
232 |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1279
diff
changeset
|
233 |
ec_domain_t *ecrt_master_create_domain_err(ec_master_t *); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1279
diff
changeset
|
234 |
ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t, |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1279
diff
changeset
|
235 |
uint16_t, uint32_t, uint32_t); |
74853e018898
Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents:
1279
diff
changeset
|
236 |
|
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
237 |
void ec_master_calc_dc(ec_master_t *); |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
238 |
|
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
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|
239 |
/*****************************************************************************/ |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
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|
240 |
|
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
241 |
#endif |