etherlabmaster: comparison master/slave.h

equal deleted inserted replaced

-:af21f0bdc7c9
+:2b9c78543663
 /******************************************************************************
 *
 *  $Id$
 *
-*  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+*  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 #include "datagram.h"
 #include "pdo.h"
 #include "sync.h"
 #include "sdo.h"
 #include "fsm_slave.h"
-#include "mailbox.h"
 /*****************************************************************************/
 /** Convenience macro for printing slave-specific information to syslog.
 *
 *
 * \param slave EtherCAT slave
 * \param fmt format string (like in printf())
 * \param args arguments (optional)
 */
-#ifdef USE_TRACE_PRINTK
-#define EC_SLAVE_INFO(slave, fmt, args...) \
-do { \
-__trace_printk(_THIS_IP_,"EtherCAT %u-%u: " fmt, slave->master->index, \
-slave->ring_position, ##args); \
-printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
-slave->ring_position, ##args);  \
-} while (0)
-#else
 #define EC_SLAVE_INFO(slave, fmt, args...) \
 printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
 slave->ring_position, ##args)
-#endif
 /** Convenience macro for printing slave-specific errors to syslog.
 *
 * This will print the message in \a fmt with a prefixed
 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
 *
 * \param slave EtherCAT slave
 * \param fmt format string (like in printf())
 * \param args arguments (optional)
 */
-#ifdef USE_TRACE_PRINTK
-#define EC_SLAVE_ERR(slave, fmt, args...) \
-do { \
-__trace_printk(_THIS_IP_,"EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
-slave->ring_position, ##args); \
-printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
-slave->ring_position, ##args);  \
-} while (0)
-#else
 #define EC_SLAVE_ERR(slave, fmt, args...) \
 printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
 slave->ring_position, ##args)
-#endif
 /** Convenience macro for printing slave-specific warnings to syslog.
 *
 * This will print the message in \a fmt with a prefixed
 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
 *
 * \param slave EtherCAT slave
 * \param fmt format string (like in printf())
 * \param args arguments (optional)
 */
-#ifdef USE_TRACE_PRINTK
-#define EC_SLAVE_WARN(slave, fmt, args...) \
-do { \
-__trace_printk(_THIS_IP_,"EtherCAT WARNING %u-%u: " fmt, \
-slave->master->index, slave->ring_position, ##args); \
-printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
-slave->master->index, slave->ring_position, ##args);    \
-} while (0)
-#else
 #define EC_SLAVE_WARN(slave, fmt, args...) \
 printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
 slave->master->index, slave->ring_position, ##args)
-#endif
 /** Convenience macro for printing slave-specific debug messages to syslog.
 *
 * This will print the message in \a fmt with a prefixed
 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
 * POSITION is the slave's ring position.
 *
 * \param slave EtherCAT slave
-* \param fmt format string (like in printf())
+* \param level Debug level. Master's debug level must be >= \a level for
-* \param args arguments (optional)
+* output.
-*/
+* \param fmt format string (like in printf())
-#ifdef USE_TRACE_PRINTK
+* \param args arguments (optional)
-#define EC_SLAVE_DBG(slave, level, fmt, args...) \
+*/
-do { \
-__trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u-%u: " fmt, \
-level,slave->master->index, slave->ring_position, ##args); \
-if (slave->master->debug_level >= level) { \
-printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
-slave->master->index, slave->ring_position, ##args); \
-} \
-} while (0)
-#else
 #define EC_SLAVE_DBG(slave, level, fmt, args...) \
 do { \
 if (slave->master->debug_level >= level) { \
 printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
 slave->master->index, slave->ring_position, ##args); \
 } \
 } while (0)
-#endif
 /*****************************************************************************/
 /** Slave port.
 */
 /*****************************************************************************/
 /** Slave information interface data.
 */
 typedef struct {
 // Non-category data
 uint16_t alias; /**< Configured station alias. */
 uint32_t vendor_id; /**< Vendor ID. */
 uint32_t product_code; /**< Vendor-specific product code. */
 uint32_t revision_number; /**< Revision number. */
 uint32_t serial_number; /**< Serial number. */
 /** EtherCAT slave.
 */
 struct ec_slave
 {
 ec_master_t *master; /**< Master owning the slave. */
+ec_device_index_t device_index; /**< Index of device the slave responds
+on. */
 // addresses
 uint16_t ring_position; /**< Ring position. */
 uint16_t station_address; /**< Configured station address. */
 uint16_t effective_alias; /**< Effective alias address. */
 struct list_head sdo_dictionary; /**< SDO dictionary list */
 uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
 unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
-struct list_head slave_sdo_requests; /**< SDO access requests. */
+struct list_head sdo_requests; /**< SDO access requests. */
-wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
+struct list_head reg_requests; /**< Register access requests. */
-from user space. */
 struct list_head foe_requests; /**< FoE write requests. */
-wait_queue_head_t foe_queue; /**< Wait queue for FoE requests from user
+struct list_head soe_requests; /**< SoE write requests. */
-space. */
-struct list_head soe_requests; /**< FoE write requests. */
-wait_queue_head_t soe_queue; /**< Wait queue for SoE requests from user
-space. */
 ec_fsm_slave_t fsm; /**< Slave state machine. */
-ec_datagram_t datagram; /** Datagram used for data transfers */
-ec_mailbox_t mbox; /**< Mailbox used for data transfers. */
 };
 /*****************************************************************************/
 // slave construction/destruction
-void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
+void ec_slave_init(ec_slave_t *, ec_master_t *, ec_device_index_t,
+uint16_t, uint16_t);
 void ec_slave_clear(ec_slave_t *);
 void ec_slave_clear_sync_managers(ec_slave_t *);
 void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
 int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
 int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
 ec_direction_t);
 // misc.
 ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t);
 void ec_slave_sdo_dict_info(const ec_slave_t *,
 unsigned int *, unsigned int *);
 ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
 const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);

changeset 2589	2b9c78543663
parent 2045	ff2a13a4603c
child 2597	0e145bb05859