44 #include "ethernet.h"

    44 #include "ethernet.h"

    45 

    45 

    46 /*****************************************************************************/

    46 /*****************************************************************************/

    47 

    47 

    48 void ec_master_freerun(void *);

    48 void ec_master_freerun(void *);

    50 void ec_master_run_eoe(unsigned long);

    49 void ec_master_run_eoe(unsigned long);

    54 ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    50 ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    55 void ec_master_process_watch_command(ec_master_t *);

    51 void ec_master_process_watch_command(ec_master_t *);

    56 

    52 

    57 /*****************************************************************************/

    53 /*****************************************************************************/

    58 

    54 

   107     INIT_LIST_HEAD(&master->command_queue);

   103     INIT_LIST_HEAD(&master->command_queue);

   108     INIT_LIST_HEAD(&master->domains);

   104     INIT_LIST_HEAD(&master->domains);

   109     INIT_LIST_HEAD(&master->eoe_slaves);

   105     INIT_LIST_HEAD(&master->eoe_slaves);

   110     ec_command_init(&master->simple_command);

   106     ec_command_init(&master->simple_command);

   111     INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   107     INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   115     init_timer(&master->eoe_timer);

   108     init_timer(&master->eoe_timer);

   116     master->eoe_timer.function = ec_master_run_eoe;

   109     master->eoe_timer.function = ec_master_run_eoe;

   117     master->eoe_timer.data = (unsigned long) master;

   110     master->eoe_timer.data = (unsigned long) master;

   121 

   111 

   122     // init kobject and add it to the hierarchy

   112     // init kobject and add it to the hierarchy

   123     memset(&master->kobj, 0x00, sizeof(struct kobject));

   113     memset(&master->kobj, 0x00, sizeof(struct kobject));

   124     kobject_init(&master->kobj);

   114     kobject_init(&master->kobj);

   125     master->kobj.ktype = &ktype_ec_master;

   115     master->kobj.ktype = &ktype_ec_master;

   178     ec_command_t *command, *next_c;

   168     ec_command_t *command, *next_c;

   179     ec_domain_t *domain, *next_d;

   169     ec_domain_t *domain, *next_d;

   180     ec_eoe_t *eoe, *next_eoe;

   170     ec_eoe_t *eoe, *next_eoe;

   181 

   171 

   182     // stop EoE processing

   172     // stop EoE processing

   184     del_timer_sync(&master->eoe_timer);

   173     del_timer_sync(&master->eoe_timer);

   190 

   174 

   191     // stop free-run mode

   175     // stop free-run mode

   192     ec_master_freerun_stop(master);

   176     ec_master_freerun_stop(master);

   193 

   177 

   194     ec_master_clear_slaves(master);

   178     ec_master_clear_slaves(master);

   806 

   790 

   807 /**

   791 /**

   808    Does the Ethernet-over-EtherCAT processing.

   792    Does the Ethernet-over-EtherCAT processing.

   809 */

   793 */

   810 

   794 

   812 void ec_master_run_eoe(unsigned long data /**< master pointer */)

   795 void ec_master_run_eoe(unsigned long data /**< master pointer */)

   816 {

   796 {

   817     ec_master_t *master = (ec_master_t *) data;

   797     ec_master_t *master = (ec_master_t *) data;

   818     ec_eoe_t *eoe;

   798     ec_eoe_t *eoe;

   819     unsigned int active = 0;

   799     unsigned int active = 0;

   820 

   800 

   832         ecrt_master_async_send(master);

   812         ecrt_master_async_send(master);

   833 

   813 

   834         master->release_cb(master->cb_data);

   814         master->release_cb(master->cb_data);

   835     }

   815     }

   836 

   816 

   838     master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;

   817     master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;

   839     add_timer(&master->eoe_timer);

   818     add_timer(&master->eoe_timer);

   844 }

   819 }

   845 

   820 

   846 /******************************************************************************

   821 /******************************************************************************

   847  *  Realtime interface

   822  *  Realtime interface

   848  *****************************************************************************/

   823  *****************************************************************************/

  1446         EC_WARN("start_eoe: no EoE-capable slaves present.\n");

  1421         EC_WARN("start_eoe: no EoE-capable slaves present.\n");

  1447         return 0;

  1422         return 0;

  1448     }

  1423     }

  1449 

  1424 

  1450     // start EoE processing

  1425     // start EoE processing

  1452     master->eoe_timer.expires = jiffies + 10;

  1426     master->eoe_timer.expires = jiffies + 10;

  1453     add_timer(&master->eoe_timer);

  1427     add_timer(&master->eoe_timer);

  1457     return 0;

  1428     return 0;

  1458 }

  1429 }

  1459 

  1430 

  1460 /*****************************************************************************/

  1431 /*****************************************************************************/

  1461 

  1432