--- a/master/globals.h Thu Sep 06 14:21:02 2012 +0200
+++ b/master/globals.h Mon Nov 03 15:20:05 2014 +0100
@@ -39,22 +39,6 @@
#include "../globals.h"
#include "../include/ecrt.h"
-#ifdef __KERNEL__
-
-#include <linux/version.h>
-
-#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 24)
-#include <linux/rtmutex.h>
-#endif // KERNEL_VERSION(2, 6, 24)
-
-#endif // __KERNEL__
-
-#if 0
-#ifdef CONFIG_TRACING
-#define USE_TRACE_PRINTK
-#endif
-#endif
-
/******************************************************************************
* EtherCAT master
*****************************************************************************/
@@ -62,8 +46,8 @@
/** Datagram timeout in microseconds. */
#define EC_IO_TIMEOUT 500
-/** FSM injection timeout in microseconds. */
-#define EC_FSM_INJECTION_TIMEOUT 10000
+/** SDO injection timeout in microseconds. */
+#define EC_SDO_INJECTION_TIMEOUT 10000
/** Time to send a byte in nanoseconds.
*
@@ -198,7 +182,7 @@
*/
typedef struct {
uint32_t cycle_time; /**< Cycle time [ns]. */
- uint32_t shift_time; /**< Shift time [ns]. */
+ int32_t shift_time; /**< Shift time [ns]. */
} ec_sync_signal_t;
/** Access states for SDO entries.
@@ -212,6 +196,15 @@
EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
};
+/** Master devices.
+ */
+typedef enum {
+ EC_DEVICE_MAIN, /**< Main device. */
+ EC_DEVICE_BACKUP /**< Backup device */
+} ec_device_index_t;
+
+extern const char *ec_device_names[2]; // only main and backup!
+
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
@@ -321,73 +314,4 @@
/*****************************************************************************/
-#ifdef __KERNEL__
-
-/** Mutual exclusion helpers.
- */
-#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 24)
-
-#define ec_mutex_t rt_mutex
-
-static inline void ec_mutex_init(struct ec_mutex_t *mutex)
-{
- rt_mutex_init(mutex);
-}
-
-static inline void ec_mutex_lock(struct ec_mutex_t *mutex)
-{
- rt_mutex_lock(mutex);
-}
-
-static inline int ec_mutex_trylock(struct ec_mutex_t *mutex)
-{
- return rt_mutex_trylock(mutex);
-}
-
-static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *mutex)
-{
- return rt_mutex_lock_interruptible(mutex, 0);
-}
-
-static inline void ec_mutex_unlock(struct ec_mutex_t *mutex)
-{
- rt_mutex_unlock(mutex);
-}
-
-#else // < KERNEL_VERSION(2, 6, 24)
-
-#define ec_mutex_t semaphore
-
-static inline void ec_mutex_init(struct ec_mutex_t *sem)
-{
- sema_init(sem, 1);
-}
-
-static inline void ec_mutex_lock(struct ec_mutex_t *sem)
-{
- down(sem);
-}
-
-static inline int ec_mutex_trylock(struct ec_mutex_t *sem)
-{
- down(sem);
- return 1;
-}
-
-static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *sem)
-{
- return down_interruptible(sem);
-}
-
-static inline void ec_mutex_unlock(struct ec_mutex_t *sem)
-{
- up(sem);
-}
-
-#endif // KERNEL_VERSION(2, 6, 24)
-
-#endif // __KERNEL__
-
-/*****************************************************************************/
-
#endif