--- a/master/master.h Thu Sep 06 14:21:02 2012 +0200
+++ b/master/master.h Mon Nov 03 15:20:05 2014 +0100
@@ -2,7 +2,7 @@
*
* $Id$
*
- * 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.
*
@@ -43,12 +43,21 @@
#include <linux/wait.h>
#include <linux/kthread.h>
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
+#include <linux/semaphore.h>
+#else
+#include <asm/semaphore.h>
+#endif
+
#include "device.h"
#include "domain.h"
#include "ethernet.h"
#include "fsm_master.h"
#include "cdev.h"
+#ifdef EC_RTDM
+#include "rtdm.h"
+#endif
/*****************************************************************************/
@@ -61,16 +70,8 @@
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
-#ifdef USE_TRACE_PRINTK
-#define EC_MASTER_INFO(master, fmt, args...) \
- do { \
- __trace_printk(_THIS_IP_,"EtherCAT %u: " fmt, master->index, ##args); \
- printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args); \
- } while (0)
-#else
#define EC_MASTER_INFO(master, fmt, args...) \
printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
-#endif
/** Convenience macro for printing master-specific errors to syslog.
*
@@ -81,16 +82,8 @@
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
-#ifdef USE_TRACE_PRINTK
-#define EC_MASTER_ERR(master, fmt, args...) \
- do { \
- __trace_printk(_THIS_IP_,"EtherCAT ERROR %u: " fmt, master->index, ##args); \
- printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args); \
- } while (0)
-#else
#define EC_MASTER_ERR(master, fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
-#endif
/** Convenience macro for printing master-specific warnings to syslog.
*
@@ -101,16 +94,8 @@
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
-#ifdef USE_TRACE_PRINTK
-#define EC_MASTER_WARN(master, fmt, args...) \
- do { \
- __trace_printk(_THIS_IP_,"EtherCAT WARNING %u: " fmt, master->index, ##args); \
- printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args); \
- } while (0)
-#else
#define EC_MASTER_WARN(master, fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
-#endif
/** Convenience macro for printing master-specific debug messages to syslog.
*
@@ -118,20 +103,11 @@
* where INDEX is the master index.
*
* \param master EtherCAT master
+ * \param level Debug level. Master's debug level must be >= \a level for
+ * output.
* \param fmt format string (like in printf())
* \param args arguments (optional)
*/
-#ifdef USE_TRACE_PRINTK
-#define EC_MASTER_DBG(master, level, fmt, args...) \
- do { \
- __trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u: " fmt, \
- level,master->index, ##args); \
- if (master->debug_level >= level) { \
- printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
- master->index, ##args); \
- } \
- } while (0)
-#else
#define EC_MASTER_DBG(master, level, fmt, args...) \
do { \
if (master->debug_level >= level) { \
@@ -139,7 +115,13 @@
master->index, ##args); \
} \
} while (0)
-#endif
+
+
+/** Size of the external datagram ring.
+ *
+ * The external datagram ring is used for slave FSMs.
+ */
+#define EC_EXT_RING_SIZE 32
/*****************************************************************************/
@@ -168,6 +150,43 @@
/*****************************************************************************/
+/** Device statistics.
+ */
+typedef struct {
+ u64 tx_count; /**< Number of frames sent. */
+ u64 last_tx_count; /**< Number of frames sent of last statistics cycle. */
+ u64 rx_count; /**< Number of frames received. */
+ u64 last_rx_count; /**< Number of frames received of last statistics
+ cycle. */
+ u64 tx_bytes; /**< Number of bytes sent. */
+ u64 last_tx_bytes; /**< Number of bytes sent of last statistics cycle. */
+ u64 rx_bytes; /**< Number of bytes received. */
+ u64 last_rx_bytes; /**< Number of bytes received of last statistics cycle.
+ */
+ u64 last_loss; /**< Tx/Rx difference of last statistics cycle. */
+ s32 tx_frame_rates[EC_RATE_COUNT]; /**< Transmit rates in frames/s for
+ different statistics cycle periods.
+ */
+ s32 rx_frame_rates[EC_RATE_COUNT]; /**< Receive rates in frames/s for
+ different statistics cycle periods.
+ */
+ s32 tx_byte_rates[EC_RATE_COUNT]; /**< Transmit rates in byte/s for
+ different statistics cycle periods. */
+ s32 rx_byte_rates[EC_RATE_COUNT]; /**< Receive rates in byte/s for
+ different statistics cycle periods. */
+ s32 loss_rates[EC_RATE_COUNT]; /**< Frame loss rates for different
+ statistics cycle periods. */
+ unsigned long jiffies; /**< Jiffies of last statistic cycle. */
+} ec_device_stats_t;
+
+/*****************************************************************************/
+
+#if EC_MAX_NUM_DEVICES < 1
+#error Invalid number of devices
+#endif
+
+/*****************************************************************************/
+
/** EtherCAT master.
*
* Manages slaves, domains and IO.
@@ -183,17 +202,24 @@
struct class_device *class_device; /**< Master class device. */
#endif
- struct ec_mutex_t master_mutex; /**< Master mutex. */
-
- ec_device_t main_device; /**< EtherCAT main device. */
- const uint8_t *main_mac; /**< MAC address of main device. */
- ec_device_t backup_device; /**< EtherCAT backup device. */
- const uint8_t *backup_mac; /**< MAC address of backup device. */
- struct ec_mutex_t device_mutex; /**< Device mutex. */
+#ifdef EC_RTDM
+ ec_rtdm_dev_t rtdm_dev; /**< RTDM device. */
+#endif
+
+ struct semaphore master_sem; /**< Master semaphore. */
+
+ ec_device_t devices[EC_MAX_NUM_DEVICES]; /**< EtherCAT devices. */
+ const uint8_t *macs[EC_MAX_NUM_DEVICES]; /**< Device MAC addresses. */
+#if EC_MAX_NUM_DEVICES > 1
+ unsigned int num_devices; /**< Number of devices. Access this always via
+ ec_master_num_devices(), because it may be
+ optimized! */
+#endif
+ struct semaphore device_sem; /**< Device semaphore. */
+ ec_device_stats_t device_stats; /**< Device statistics. */
ec_fsm_master_t fsm; /**< Master state machine. */
ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
- ec_mailbox_t fsm_mbox; /**< Mailbox used for state machines. */
ec_master_phase_t phase; /**< Master phase. */
unsigned int active; /**< Master has been activated. */
unsigned int config_changed; /**< The configuration changed. */
@@ -208,7 +234,7 @@
/* Configuration applied by the application. */
struct list_head configs; /**< List of slave configurations. */
struct list_head domains; /**< List of domains. */
-
+
u64 app_time; /**< Time of the last ecrt_master_sync() call. */
u64 app_start_time; /**< Application start time. */
u8 has_app_time; /**< Application time is valid. */
@@ -218,21 +244,19 @@
compensation. */
ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation
monitoring. */
+ ec_slave_config_t *dc_ref_config; /**< Application-selected DC reference
+ clock slave config. */
ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
-#ifdef EC_HAVE_CYCLES
- cycles_t dc_cycles_app_start_time; /** cycles at last ecrt_master_sync() call.*/
-#endif
- unsigned long dc_jiffies_app_start_time;/** jiffies at last
- ecrt_master_sync() call.*/
+
unsigned int scan_busy; /**< Current scan state. */
unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
- struct ec_mutex_t scan_mutex; /**< Mutex protecting the \a scan_busy
+ struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
variable and the \a allow_scan flag. */
wait_queue_head_t scan_queue; /**< Queue for processes that wait for
slave scanning. */
unsigned int config_busy; /**< State of slave configuration. */
- struct ec_mutex_t config_mutex; /**< Mutex protecting the \a config_busy
+ struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
variable and the allow_config flag. */
wait_queue_head_t config_queue; /**< Queue for processes that wait for
slave configuration. */
@@ -240,14 +264,25 @@
struct list_head datagram_queue; /**< Datagram queue. */
uint8_t datagram_index; /**< Current datagram index. */
- struct ec_mutex_t fsm_queue_mutex; /**< Mutex protecting the \a
- fsm_datagram_queue. */
- struct list_head fsm_datagram_queue; /**< External Datagram queue. */
-
- unsigned int send_interval; /**< Interval between calls to
- ecrt_master_send */
+ struct list_head ext_datagram_queue; /**< Queue for non-application
+ datagrams. */
+ struct semaphore ext_queue_sem; /**< Semaphore protecting the \a
+ ext_datagram_queue. */
+
+ ec_datagram_t ext_datagram_ring[EC_EXT_RING_SIZE]; /**< External datagram
+ ring. */
+ unsigned int ext_ring_idx_rt; /**< Index in external datagram ring for RT
+ side. */
+ unsigned int ext_ring_idx_fsm; /**< Index in external datagram ring for
+ FSM side. */
+ unsigned int send_interval; /**< Interval between two calls to
+ ecrt_master_send(). */
size_t max_queue_size; /**< Maximum size of datagram queue */
+ ec_slave_t *fsm_slave; /**< Slave that is queried next for FSM exec. */
+ struct list_head fsm_exec_list; /**< Slave FSM execution list. */
+ unsigned int fsm_exec_count; /**< Number of entries in execution list. */
+
unsigned int debug_level; /**< Master debug level. */
ec_stats_t stats; /**< Cyclic statistics. */
@@ -258,25 +293,23 @@
struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
#endif
- struct ec_mutex_t io_mutex; /**< Mutex used in \a IDLE phase. */
-
- void (*fsm_queue_lock_cb)(void *); /**< FSM queue lock callback. */
- void (*fsm_queue_unlock_cb)(void *); /**< FSM queue unlock callback. */
- void *fsm_queue_locking_data; /**< Data parameter of fsm queue locking
- callbacks. */
- void (*app_fsm_queue_lock_cb)(void *); /**< App's FSM queue lock callback.
- */
- void (*app_fsm_queue_unlock_cb)(void *); /**< App's FSM queue unlock
- callback. */
- void *app_fsm_queue_locking_data; /**< App's data parameter of fsm queue
- locking callbacks. */
+ struct semaphore io_sem; /**< Semaphore used in \a IDLE phase. */
+
+ void (*send_cb)(void *); /**< Current send datagrams callback. */
+ void (*receive_cb)(void *); /**< Current receive datagrams callback. */
+ void *cb_data; /**< Current callback data. */
+ void (*app_send_cb)(void *); /**< Application's send datagrams
+ callback. */
+ void (*app_receive_cb)(void *); /**< Application's receive datagrams
+ callback. */
+ void *app_cb_data; /**< Application callback data. */
struct list_head sii_requests; /**< SII write requests. */
- wait_queue_head_t sii_queue; /**< Wait queue for SII
- write requests from user space. */
-
- struct list_head reg_requests; /**< Register requests. */
- wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
+ struct list_head emerg_reg_requests; /**< Emergency register access
+ requests. */
+
+ wait_queue_head_t request_queue; /**< Wait queue for external requests
+ from user space. */
};
/*****************************************************************************/
@@ -289,18 +322,31 @@
const uint8_t *, dev_t, struct class *, unsigned int);
void ec_master_clear(ec_master_t *);
+/** Number of Ethernet devices.
+ */
+#if EC_MAX_NUM_DEVICES > 1
+#define ec_master_num_devices(MASTER) ((MASTER)->num_devices)
+#else
+#define ec_master_num_devices(MASTER) 1
+#endif
+
// phase transitions
int ec_master_enter_idle_phase(ec_master_t *);
void ec_master_leave_idle_phase(ec_master_t *);
int ec_master_enter_operation_phase(ec_master_t *);
void ec_master_leave_operation_phase(ec_master_t *);
+#ifdef EC_EOE
+// EoE
+void ec_master_eoe_start(ec_master_t *);
+void ec_master_eoe_stop(ec_master_t *);
+#endif
+
// datagram IO
-void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
+void ec_master_receive_datagrams(ec_master_t *, ec_device_t *,
+ const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
-void ec_master_queue_request_fsm_datagram(ec_master_t *, ec_datagram_t *);
-void ec_master_queue_fsm_datagram(ec_master_t *, ec_datagram_t *);
-void ec_master_inject_fsm_datagrams(ec_master_t *);
+void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
// misc.
void ec_master_set_send_interval(ec_master_t *, unsigned int);
@@ -337,6 +383,11 @@
void ec_master_calc_dc(ec_master_t *);
void ec_master_request_op(ec_master_t *);
-/*****************************************************************************/
-
-#endif
+void ec_master_internal_send_cb(void *);
+void ec_master_internal_receive_cb(void *);
+
+extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c
+
+/*****************************************************************************/
+
+#endif