author | Florian Pose <fp@igh-essen.com> |
Fri, 12 May 2006 10:12:14 +0000 | |
changeset 232 | f6594a07cdda |
parent 229 | 2cc0a7146958 |
child 236 | 34d7ce41e9db |
permissions | -rw-r--r-- |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
1 |
/****************************************************************************** |
0 | 2 |
* |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
3 |
* $Id$ |
0 | 4 |
* |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
5 |
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
6 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
8 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
10 |
* and/or modify it under the terms of the GNU General Public License |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
11 |
* as published by the Free Software Foundation; version 2 of the License. |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
12 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
13 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
14 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
16 |
* GNU General Public License for more details. |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
17 |
* |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
18 |
* You should have received a copy of the GNU General Public License |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
19 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents:
195
diff
changeset
|
21 |
* |
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
22 |
*****************************************************************************/ |
0 | 23 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
24 |
/** |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
25 |
\file |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
26 |
EtherCAT master structure. |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
27 |
*/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
28 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
29 |
/*****************************************************************************/ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
30 |
|
0 | 31 |
#ifndef _EC_MASTER_H_ |
32 |
#define _EC_MASTER_H_ |
|
33 |
||
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
34 |
#include <linux/list.h> |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
35 |
#include <linux/sysfs.h> |
191 | 36 |
#include <linux/timer.h> |
95
0066de7a456d
Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents:
94
diff
changeset
|
37 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
38 |
#include "device.h" |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
52
diff
changeset
|
39 |
#include "domain.h" |
0 | 40 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
41 |
/*****************************************************************************/ |
0 | 42 |
|
226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
43 |
// Uncomment this to do EoE within a kernel timer. Otherwise, it will be |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
44 |
// done in a working queue. |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
45 |
|
229
2cc0a7146958
EoE processing with kernel timer again.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
|
46 |
#define EOE_TIMER |
226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
47 |
|
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
48 |
/*****************************************************************************/ |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
49 |
|
0 | 50 |
/** |
191 | 51 |
EtherCAT master mode. |
52 |
*/ |
|
53 |
||
54 |
typedef enum |
|
55 |
{ |
|
56 |
EC_MASTER_MODE_IDLE, |
|
57 |
EC_MASTER_MODE_FREERUN, |
|
58 |
EC_MASTER_MODE_RUNNING |
|
59 |
} |
|
60 |
ec_master_mode_t; |
|
61 |
||
62 |
/*****************************************************************************/ |
|
63 |
||
64 |
/** |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
65 |
Cyclic statistics. |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
66 |
*/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
67 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
68 |
typedef struct |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
69 |
{ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
70 |
unsigned int timeouts; /**< command timeouts */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
71 |
unsigned int delayed; /**< delayed commands */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
72 |
unsigned int corrupted; /**< corrupted frames */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
73 |
unsigned int unmatched; /**< unmatched commands */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
74 |
cycles_t t_last; /**< time of last output */ |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
75 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
76 |
ec_stats_t; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
77 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
78 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
79 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
80 |
/** |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
81 |
EtherCAT master. |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
82 |
Manages slaves, domains and IO. |
0 | 83 |
*/ |
84 |
||
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
85 |
struct ec_master |
0 | 86 |
{ |
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
87 |
struct list_head list; /**< list item */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
88 |
struct kobject kobj; /**< kobject */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
89 |
unsigned int index; /**< master index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
90 |
struct list_head slaves; /**< list of slaves on the bus */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
91 |
unsigned int slave_count; /**< number of slaves on the bus */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
92 |
ec_device_t *device; /**< EtherCAT device */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
93 |
struct list_head command_queue; /**< command queue */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
94 |
uint8_t command_index; /**< current command index */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
95 |
struct list_head domains; /**< list of domains */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
96 |
ec_command_t simple_command; /**< command structure for initialization */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
97 |
ec_command_t watch_command; /**< command for watching the slaves */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
98 |
unsigned int slaves_responding; /**< number of responding slaves */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
99 |
ec_slave_state_t slave_states; /**< states of the responding slaves */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
100 |
int debug_level; /**< master debug level */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
101 |
ec_stats_t stats; /**< cyclic statistics */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
102 |
unsigned int timeout; /**< timeout in synchronous IO */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
103 |
struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
104 |
unsigned int reserved; /**< true, if the master is reserved for RT */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
105 |
struct timer_list freerun_timer; /**< timer object for free run mode */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
106 |
ec_master_mode_t mode; /**< master mode */ |
204
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
107 |
int (*request_cb)(void *); /**< lock request callback */ |
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
108 |
void (*release_cb)(void *); /**< lock release callback */ |
5ab50514d9b2
Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
109 |
void *cb_data; /**< data parameter of locking callbacks */ |
226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
110 |
#ifdef EOE_TIMER |
208
b7797f8a813d
command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents:
206
diff
changeset
|
111 |
struct timer_list eoe_timer; /** EoE timer object */ |
226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
112 |
#else |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
113 |
struct workqueue_struct *eoe_workqueue; /**< EoE workqueue */ |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
114 |
struct work_struct eoe_work; /**< work structure for EoE workqueue */ |
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
214
diff
changeset
|
115 |
#endif |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
116 |
}; |
0 | 117 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
118 |
/*****************************************************************************/ |
0 | 119 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
120 |
// master creation and deletion |
178
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
121 |
int ec_master_init(ec_master_t *, unsigned int); |
b84f69db8566
MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents:
151
diff
changeset
|
122 |
void ec_master_clear(struct kobject *); |
56
36d1fa37f5e1
Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt.
Florian Pose <fp@igh-essen.com>
parents:
55
diff
changeset
|
123 |
void ec_master_reset(ec_master_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
124 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
125 |
// free run |
191 | 126 |
void ec_master_freerun_start(ec_master_t *); |
127 |
void ec_master_freerun_stop(ec_master_t *); |
|
128 |
||
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
129 |
// IO |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
130 |
void ec_master_receive(ec_master_t *, const uint8_t *, size_t); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
131 |
void ec_master_queue_command(ec_master_t *, ec_command_t *); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
132 |
int ec_master_simple_io(ec_master_t *, ec_command_t *); |
0 | 133 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
134 |
// slave management |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
135 |
int ec_master_bus_scan(ec_master_t *); |
0 | 136 |
|
195
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
191
diff
changeset
|
137 |
// misc. |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
95
diff
changeset
|
138 |
void ec_master_output_stats(ec_master_t *); |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
139 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
140 |
/*****************************************************************************/ |
0 | 141 |
|
142 |
#endif |