etherlabmaster: comparison master/master.c

equal deleted inserted replaced

-:9f83a343ae75
+:5cff10efb927
 /******************************************************************************
-*
-*  m a s t e r . c
-*
-*  EtherCAT master methods.
 *
 *  $Id$
 *
+*  Copyright (C) 2006  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
+*  as published by the Free Software Foundation; version 2 of the License.
+*
+*  The IgH EtherCAT Master is distributed in the hope that it will be
+*  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+*  GNU General Public License for more details.
+*
+*  You should have received a copy of the GNU General Public License
+*  along with the IgH EtherCAT Master; if not, write to the Free Software
+*  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*
 *****************************************************************************/
+/**
+\file
+EtherCAT master methods.
+*/
+/*****************************************************************************/
 #include <linux/module.h>
 #include <linux/kernel.h>
 #include <linux/string.h>
 #include <linux/slab.h>
 ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
 void ec_master_process_watch_command(ec_master_t *);
 /*****************************************************************************/
+/** \cond */
 EC_SYSFS_READ_ATTR(slave_count);
 EC_SYSFS_READ_ATTR(mode);
 static struct attribute *ec_def_attrs[] = {
 &attr_slave_count,
 static struct kobj_type ktype_ec_master = {
 .release = ec_master_clear,
 .sysfs_ops = &ec_sysfs_ops,
 .default_attrs = ec_def_attrs
 };
+/** \endcond */
 /*****************************************************************************/
 /**
 Master constructor.
 }
 /*****************************************************************************/
 /**
-Translates an ASCII coded bus-address to a slave pointer.
-These are the valid addressing schemes:
-- \a "X" = the X. slave on the bus,
-- \a "X:Y" = the Y. slave after the X. branch (bus coupler),
-- \a "#X" = the slave with alias X,
-- \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
-X and Y are zero-based indices and may be provided in hexadecimal or octal
-notation (with respective prefix).
-\return pointer to the slave on success, else NULL
-*/
-ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
-const char *address /**< address string */
-)
-{
-unsigned long first, second;
-char *remainder, *remainder2;
-unsigned int alias_requested, alias_found;
-ec_slave_t *alias_slave = NULL, *slave;
-if (!address || address[0] == 0) return NULL;
-alias_requested = 0;
-if (address[0] == '#') {
-alias_requested = 1;
-address++;
-}
-first = simple_strtoul(address, &remainder, 0);
-if (remainder == address) {
-EC_ERR("Slave address \"%s\" - First number empty!\n", address);
-return NULL;
-}
-if (alias_requested) {
-alias_found = 0;
-list_for_each_entry(alias_slave, &master->slaves, list) {
-if (alias_slave->sii_alias == first) {
-alias_found = 1;
-break;
-}
-}
-if (!alias_found) {
-EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
-return NULL;
-}
-}
-if (!remainder[0]) { // absolute position
-if (alias_requested) {
-return alias_slave;
-}
-else {
-list_for_each_entry(slave, &master->slaves, list) {
-if (slave->ring_position == first) return slave;
-}
-EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
-address);
-}
-}
-else if (remainder[0] == ':') { // field position
-remainder++;
-second = simple_strtoul(remainder, &remainder2, 0);
-if (remainder2 == remainder) {
-EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
-return NULL;
-}
-if (remainder2[0]) {
-EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
-return NULL;
-}
-if (alias_requested) {
-if (!alias_slave->type ||
-alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
-EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
-" in colon mode.\n", address);
-return NULL;
-}
-list_for_each_entry(slave, &master->slaves, list) {
-if (slave->coupler_index == alias_slave->coupler_index
-&& slave->coupler_subindex == second)
-return slave;
-}
-EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
-" following!\n", address, alias_slave->ring_position,
-second);
-return NULL;
-}
-else {
-list_for_each_entry(slave, &master->slaves, list) {
-if (slave->coupler_index == first
-&& slave->coupler_subindex == second) return slave;
-}
-}
-}
-else
-EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
-return NULL;
-}
-/*****************************************************************************/
-/**
 Initializes a sync manager configuration page.
 The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
 */
 void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
 }
 printk(")\n");
 }
 }
+/*****************************************************************************/
+/**
+Does the Ethernet-over-EtherCAT processing.
+*/
+void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
+{
+ec_eoe_t *eoe;
+list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ec_eoe_run(eoe);
+}
+}
 /******************************************************************************
 *  Realtime interface
 *****************************************************************************/
 /**
 Creates a domain.
 \return pointer to new domain on success, else NULL
+\ingroup RealtimeInterface
 */
 ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
 {
 ec_domain_t *domain, *last_domain;
 Configures all slaves and leads them to the OP state.
 Does the complete configuration and activation for all slaves. Sets sync
 managers and FMMUs, and does the appropriate transitions, until the slave
 is operational.
 \return 0 in case of success, else < 0
+\ingroup RealtimeInterface
 */
 int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
 {
 unsigned int j;
 /*****************************************************************************/
 /**
 Resets all slaves to INIT state.
+\ingroup RealtimeInterface
 */
 void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
 {
 ec_slave_t *slave;
 /**
 Fetches the SDO dictionaries of all slaves.
 Slaves that do not support the CoE protocol are left out.
 \return 0 in case of success, else < 0
+\ingroup RealtimeInterface
 */
 int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT master */)
 {
 ec_slave_t *slave;
 /*****************************************************************************/
 /**
 Sends queued commands and waits for their reception.
+\ingroup RealtimeInterface
 */
 void ecrt_master_sync_io(ec_master_t *master /**< EtherCAT master */)
 {
 ec_command_t *command, *n;
 /*****************************************************************************/
 /**
 Asynchronous sending of commands.
+\ingroup RealtimeInterface
 */
 void ecrt_master_async_send(ec_master_t *master /**< EtherCAT master */)
 {
 ec_command_t *command, *n;
 /*****************************************************************************/
 /**
 Asynchronous receiving of commands.
+\ingroup RealtimeInterface
 */
 void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */)
 {
 ec_command_t *command, *next;
 /**
 Prepares synchronous IO.
 Queues all domain commands and sends them. Then waits a certain time, so
 that ecrt_master_sasync_receive() can be called securely.
+\ingroup RealtimeInterface
 */
 void ecrt_master_prepare_async_io(ec_master_t *master /**< EtherCAT master */)
 {
 ec_domain_t *domain;
 /*****************************************************************************/
 /**
 Does all cyclic master work.
+\ingroup RealtimeInterface
 */
 void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
 {
 // output statistics
 ec_master_process_watch_command(master);
 ec_master_queue_command(master, &master->watch_command);
 // Ethernet-over-EtherCAT
 ec_master_run_eoe(master);
+}
+/*****************************************************************************/
+/**
+Translates an ASCII coded bus-address to a slave pointer.
+These are the valid addressing schemes:
+- \a "X" = the X. slave on the bus,
+- \a "X:Y" = the Y. slave after the X. branch (bus coupler),
+- \a "#X" = the slave with alias X,
+- \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
+X and Y are zero-based indices and may be provided in hexadecimal or octal
+notation (with respective prefix).
+\return pointer to the slave on success, else NULL
+\ingroup RealtimeInterface
+*/
+ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
+const char *address /**< address string */
+)
+{
+unsigned long first, second;
+char *remainder, *remainder2;
+unsigned int alias_requested, alias_found;
+ec_slave_t *alias_slave = NULL, *slave;
+if (!address || address[0] == 0) return NULL;
+alias_requested = 0;
+if (address[0] == '#') {
+alias_requested = 1;
+address++;
+}
+first = simple_strtoul(address, &remainder, 0);
+if (remainder == address) {
+EC_ERR("Slave address \"%s\" - First number empty!\n", address);
+return NULL;
+}
+if (alias_requested) {
+alias_found = 0;
+list_for_each_entry(alias_slave, &master->slaves, list) {
+if (alias_slave->sii_alias == first) {
+alias_found = 1;
+break;
+}
+}
+if (!alias_found) {
+EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
+return NULL;
+}
+}
+if (!remainder[0]) { // absolute position
+if (alias_requested) {
+return alias_slave;
+}
+else {
+list_for_each_entry(slave, &master->slaves, list) {
+if (slave->ring_position == first) return slave;
+}
+EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
+address);
+}
+}
+else if (remainder[0] == ':') { // field position
+remainder++;
+second = simple_strtoul(remainder, &remainder2, 0);
+if (remainder2 == remainder) {
+EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
+return NULL;
+}
+if (remainder2[0]) {
+EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
+return NULL;
+}
+if (alias_requested) {
+if (!alias_slave->type ||
+alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
+EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
+" in colon mode.\n", address);
+return NULL;
+}
+list_for_each_entry(slave, &master->slaves, list) {
+if (slave->coupler_index == alias_slave->coupler_index
+&& slave->coupler_subindex == second)
+return slave;
+}
+EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
+" following!\n", address, alias_slave->ring_position,
+second);
+return NULL;
+}
+else {
+list_for_each_entry(slave, &master->slaves, list) {
+if (slave->coupler_index == first
+&& slave->coupler_subindex == second) return slave;
+}
+}
+}
+else
+EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
+return NULL;
 }
 /*****************************************************************************/
 /**
 Sets the debug level of the master.
 The following levels are valid:
 - 1: only output positions marks and basic data
 - 2: additional frame data output
+\ingroup RealtimeInterface
 */
 void ecrt_master_debug(ec_master_t *master, /**< EtherCAT master */
 int level /**< debug level */
 )
 Outputs all master information.
 Verbosity:
 - 0: Only slave types and positions
 - 1: with EEPROM contents
 - >1: with SDO dictionaries
+\ingroup RealtimeInterface
 */
 void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */
 unsigned int verbosity /**< verbosity level */
 )
 EC_INFO("*** End master information ***\n");
 }
 /*****************************************************************************/
-/**
+/** \cond */
-Does the Ethernet-over-EtherCAT processing.
-*/
-void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
-{
-ec_eoe_t *eoe;
-list_for_each_entry(eoe, &master->eoe_slaves, list) {
-ec_eoe_run(eoe);
-}
-}
-/*****************************************************************************/
 EXPORT_SYMBOL(ecrt_master_create_domain);
 EXPORT_SYMBOL(ecrt_master_activate);
 EXPORT_SYMBOL(ecrt_master_deactivate);
 EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists);
 EXPORT_SYMBOL(ecrt_master_run);
 EXPORT_SYMBOL(ecrt_master_debug);
 EXPORT_SYMBOL(ecrt_master_print);
 EXPORT_SYMBOL(ecrt_master_get_slave);
-/*****************************************************************************/
+/** \endcond */
+/*****************************************************************************/

branch	stable-1.0
changeset 1618	5cff10efb927
parent 195	674071846ee3
child 1619	0d4119024f55