--- a/master/master.c Fri May 07 15:26:26 2010 +0200
+++ b/master/master.c Tue May 11 13:57:58 2010 +0200
@@ -139,6 +139,7 @@
master->phase = EC_ORPHANED;
master->active = 0;
+ master->config_changed = 0;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
@@ -153,7 +154,7 @@
#endif
master->dc_jiffies_app_time = 0;
master->app_start_time = 0ULL;
- master->has_start_time = 0;
+ master->has_app_time = 0;
master->scan_busy = 0;
master->allow_scan = 1;
@@ -220,7 +221,7 @@
ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
if (ret < 0) {
ec_datagram_clear(&master->fsm_datagram);
- EC_ERR("Failed to allocate FSM datagram.\n");
+ EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");
goto out_clear_backup;
}
@@ -233,7 +234,8 @@
ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
if (ret < 0) {
ec_datagram_clear(&master->ref_sync_datagram);
- EC_ERR("Failed to allocate reference synchronisation datagram.\n");
+ EC_MASTER_ERR(master, "Failed to allocate reference"
+ " synchronisation datagram.\n");
goto out_clear_fsm;
}
@@ -243,7 +245,8 @@
ret = ec_datagram_prealloc(&master->sync_datagram, 4);
if (ret < 0) {
ec_datagram_clear(&master->sync_datagram);
- EC_ERR("Failed to allocate synchronisation datagram.\n");
+ EC_MASTER_ERR(master, "Failed to allocate"
+ " synchronisation datagram.\n");
goto out_clear_ref_sync;
}
@@ -253,7 +256,8 @@
ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
if (ret < 0) {
ec_datagram_clear(&master->sync_mon_datagram);
- EC_ERR("Failed to allocate sync monitoring datagram.\n");
+ EC_MASTER_ERR(master, "Failed to allocate sync"
+ " monitoring datagram.\n");
goto out_clear_sync;
}
@@ -282,7 +286,7 @@
"EtherCAT%u", master->index);
#endif
if (IS_ERR(master->class_device)) {
- EC_ERR("Failed to create class device!\n");
+ EC_MASTER_ERR(master, "Failed to create class device!\n");
ret = PTR_ERR(master->class_device);
goto out_clear_cdev;
}
@@ -386,33 +390,24 @@
// external requests are obsolete, so we wake pending waiters and remove
// them from the list
- //
- // SII requests
- while (1) {
- ec_sii_write_request_t *request;
- if (list_empty(&master->sii_requests))
- break;
- // get first request
- request = list_entry(master->sii_requests.next,
- ec_sii_write_request_t, list);
+
+ while (!list_empty(&master->sii_requests)) {
+ ec_sii_write_request_t *request =
+ list_entry(master->sii_requests.next,
+ ec_sii_write_request_t, list);
list_del_init(&request->list); // dequeue
- EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",
- request->slave->ring_position);
+ EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
+ " to be deleted.\n", request->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sii_queue);
}
- // Register requests
- while (1) {
- ec_reg_request_t *request;
- if (list_empty(&master->reg_requests))
- break;
- // get first request
- request = list_entry(master->reg_requests.next,
- ec_reg_request_t, list);
+ while (!list_empty(&master->reg_requests)) {
+ ec_reg_request_t *request =
+ list_entry(master->reg_requests.next, ec_reg_request_t, list);
list_del_init(&request->list); // dequeue
- EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",
- request->slave->ring_position);
+ EC_MASTER_WARN(master, "Discarding register request, slave %u"
+ " about to be deleted.\n", request->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->reg_queue);
}
@@ -420,51 +415,6 @@
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
- // SDO requests
- while (1) {
- ec_master_sdo_request_t *request;
- if (list_empty(&slave->slave_sdo_requests))
- break;
- // get first request
- request = list_entry(slave->slave_sdo_requests.next,
- ec_master_sdo_request_t, list);
- list_del_init(&request->list); // dequeue
- EC_INFO("Discarding SDO request,"
- " slave %u does not exist anymore.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- }
- // FoE requests
- while (1) {
- ec_master_foe_request_t *request;
- if (list_empty(&slave->foe_requests))
- break;
- // get first request
- request = list_entry(slave->foe_requests.next,
- ec_master_foe_request_t, list);
- list_del_init(&request->list); // dequeue
- EC_INFO("Discarding FoE request,"
- " slave %u does not exist anymore.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->foe_queue);
- }
- // SoE requests
- while (1) {
- ec_master_soe_request_t *request;
- if (list_empty(&slave->soe_requests))
- break;
- // get first request
- request = list_entry(slave->soe_requests.next,
- ec_master_soe_request_t, list);
- list_del_init(&request->list); // dequeue
- EC_INFO("Discarding SoE request,"
- " slave %u does not exist anymore.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->soe_queue);
- }
ec_slave_clear(slave);
}
@@ -532,11 +482,12 @@
const char *name /**< Thread name. */
)
{
- EC_INFO("Starting %s thread.\n", name);
+ EC_MASTER_INFO(master, "Starting %s thread.\n", name);
master->thread = kthread_run(thread_func, master, name);
if (IS_ERR(master->thread)) {
int err = (int) PTR_ERR(master->thread);
- EC_ERR("Failed to start master thread (error %i)!\n", err);
+ EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n",
+ err);
master->thread = NULL;
return err;
}
@@ -555,16 +506,15 @@
unsigned long sleep_jiffies;
if (!master->thread) {
- EC_WARN("ec_master_thread_stop(): Already finished!\n");
+ EC_MASTER_WARN(master, "%s(): Already finished!\n", __func__);
return;
}
- if (master->debug_level)
- EC_DBG("Stopping master thread.\n");
+ EC_MASTER_DBG(master, 1, "Stopping master thread.\n");
kthread_stop(master->thread);
master->thread = NULL;
- EC_INFO("Master thread exited.\n");
+ EC_MASTER_INFO(master, "Master thread exited.\n");
if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
return;
@@ -584,8 +534,7 @@
{
int ret;
- if (master->debug_level)
- EC_DBG("ORPHANED -> IDLE.\n");
+ EC_MASTER_DBG(master, 1, "ORPHANED -> IDLE.\n");
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
@@ -606,8 +555,7 @@
*/
void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
{
- if (master->debug_level)
- EC_DBG("IDLE -> ORPHANED.\n");
+ EC_MASTER_DBG(master, 1, "IDLE -> ORPHANED.\n");
master->phase = EC_ORPHANED;
@@ -633,8 +581,7 @@
ec_eoe_t *eoe;
#endif
- if (master->debug_level)
- EC_DBG("IDLE -> OPERATION.\n");
+ EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
down(&master->config_sem);
master->allow_config = 0; // temporarily disable slave configuration
@@ -645,12 +592,13 @@
ret = wait_event_interruptible(master->config_queue,
!master->config_busy);
if (ret) {
- EC_INFO("Finishing slave configuration interrupted by signal.\n");
+ EC_MASTER_INFO(master, "Finishing slave configuration"
+ " interrupted by signal.\n");
goto out_allow;
}
- if (master->debug_level)
- EC_DBG("Waiting for pending slave configuration returned.\n");
+ EC_MASTER_DBG(master, 1, "Waiting for pending slave"
+ " configuration returned.\n");
} else {
up(&master->config_sem);
}
@@ -665,12 +613,13 @@
// wait for slave scan to complete
ret = wait_event_interruptible(master->scan_queue, !master->scan_busy);
if (ret) {
- EC_INFO("Waiting for slave scan interrupted by signal.\n");
+ EC_MASTER_INFO(master, "Waiting for slave scan"
+ " interrupted by signal.\n");
goto out_allow;
}
- if (master->debug_level)
- EC_DBG("Waiting for pending slave scan returned.\n");
+ EC_MASTER_DBG(master, 1, "Waiting for pending"
+ " slave scan returned.\n");
}
// set states for all slaves
@@ -711,8 +660,7 @@
if (master->active)
ecrt_master_deactivate(master);
- if (master->debug_level)
- EC_DBG("OPERATION -> IDLE.\n");
+ EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
}
@@ -739,11 +687,9 @@
if (queue_size <= master->max_queue_size) {
list_del_init(&datagram->queue);
#if DEBUG_INJECT
- if (master->debug_level) {
- EC_DBG("Injecting external datagram %08x size=%u,"
- " queue_size=%u\n", (unsigned int) datagram,
- datagram->data_size, queue_size);
- }
+ EC_MASTER_DBG(master, 0, "Injecting external datagram %08x"
+ " size=%u, queue_size=%u\n", (unsigned int) datagram,
+ datagram->data_size, queue_size);
#endif
#ifdef EC_HAVE_CYCLES
datagram->cycles_sent = 0;
@@ -755,7 +701,7 @@
if (datagram->data_size > master->max_queue_size) {
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_ERROR;
- EC_ERR("External datagram %p is too large,"
+ EC_MASTER_ERR(master, "External datagram %p is too large,"
" size=%u, max_queue_size=%u\n",
datagram, datagram->data_size,
master->max_queue_size);
@@ -782,14 +728,15 @@
time_us = (unsigned int)
((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
#endif
- EC_ERR("Timeout %u us: injecting external datagram %p"
- " size=%u, max_queue_size=%u\n",
- time_us, datagram,
+ EC_MASTER_ERR(master, "Timeout %u us: Injecting"
+ " external datagram %p size=%u,"
+ " max_queue_size=%u\n", time_us, datagram,
datagram->data_size, master->max_queue_size);
}
#if DEBUG_INJECT
- else if (master->debug_level) {
- EC_DBG("Deferred injecting of external datagram %p"
+ else {
+ EC_MASTER_DBG(master, 0, "Deferred injecting"
+ " of external datagram %p"
" size=%u, queue_size=%u\n",
datagram, datagram->data_size, queue_size);
}
@@ -838,10 +785,8 @@
}
#if DEBUG_INJECT
- if (master->debug_level) {
- EC_DBG("Requesting external datagram %p size=%u\n",
- datagram, datagram->data_size);
- }
+ EC_MASTER_DBG(master, 0, "Requesting external datagram %p size=%u\n",
+ datagram, datagram->data_size);
#endif
list_add_tail(&datagram->queue, &master->external_datagram_queue);
@@ -872,8 +817,7 @@
list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
if (queued_datagram == datagram) {
datagram->skip_count++;
- if (master->debug_level)
- EC_DBG("skipping datagram %p.\n", datagram);
+ EC_MASTER_DBG(master, 1, "skipping datagram %p.\n", datagram);
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
@@ -922,8 +866,7 @@
frame_count = 0;
INIT_LIST_HEAD(&sent_datagrams);
- if (unlikely(master->debug_level > 1))
- EC_DBG("ec_master_send_datagrams\n");
+ EC_MASTER_DBG(master, 2, "ec_master_send_datagrams\n");
do {
// fetch pointer to transmit socket buffer
@@ -947,8 +890,8 @@
list_add_tail(&datagram->sent, &sent_datagrams);
datagram->index = master->datagram_index++;
- if (unlikely(master->debug_level > 1))
- EC_DBG("adding datagram 0x%02X\n", datagram->index);
+ EC_MASTER_DBG(master, 2, "adding datagram 0x%02X\n",
+ datagram->index);
// set "datagram following" flag in previous frame
if (follows_word)
@@ -994,8 +937,7 @@
}
if (list_empty(&sent_datagrams)) {
- if (unlikely(master->debug_level > 1))
- EC_DBG("nothing to send.\n");
+ EC_MASTER_DBG(master, 2, "nothing to send.\n");
break;
}
@@ -1007,8 +949,7 @@
while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
EC_WRITE_U8(cur_data++, 0x00);
- if (unlikely(master->debug_level > 1))
- EC_DBG("frame size: %zu\n", cur_data - frame_data);
+ EC_MASTER_DBG(master, 2, "frame size: %zu\n", cur_data - frame_data);
// send frame
ec_device_send(&master->main_device, cur_data - frame_data);
@@ -1034,8 +975,8 @@
#ifdef EC_HAVE_CYCLES
if (unlikely(master->debug_level > 1)) {
cycles_end = get_cycles();
- EC_DBG("ec_master_send_datagrams sent %u frames in %uus.\n",
- frame_count,
+ EC_MASTER_DBG(master, 0, "ec_master_send_datagrams"
+ " sent %u frames in %uus.\n", frame_count,
(unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
}
#endif
@@ -1063,7 +1004,8 @@
if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
if (master->debug_level) {
- EC_DBG("Corrupted frame received (size %zu < %u byte):\n",
+ EC_MASTER_DBG(master, 0, "Corrupted frame received"
+ " (size %zu < %u byte):\n",
size, EC_FRAME_HEADER_SIZE);
ec_print_data(frame_data, size);
}
@@ -1080,7 +1022,8 @@
if (unlikely(frame_size > size)) {
if (master->debug_level) {
- EC_DBG("Corrupted frame received (invalid frame size %zu for "
+ EC_MASTER_DBG(master, 0, "Corrupted frame received"
+ " (invalid frame size %zu for "
"received size %zu):\n", frame_size, size);
ec_print_data(frame_data, size);
}
@@ -1101,8 +1044,8 @@
if (unlikely(cur_data - frame_data
+ data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
if (master->debug_level) {
- EC_DBG("Corrupted frame received (invalid data size %zu):\n",
- data_size);
+ EC_MASTER_DBG(master, 0, "Corrupted frame received"
+ " (invalid data size %zu):\n", data_size);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
@@ -1128,7 +1071,7 @@
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
- EC_DBG("UNMATCHED datagram:\n");
+ EC_MASTER_DBG(master, 0, "UNMATCHED datagram:\n");
ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
EC_DATAGRAM_HEADER_SIZE + data_size
+ EC_DATAGRAM_FOOTER_SIZE);
@@ -1192,17 +1135,20 @@
master->stats.output_jiffies = jiffies;
if (master->stats.timeouts) {
- EC_WARN("%u datagram%s TIMED OUT!\n", master->stats.timeouts,
+ EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
+ master->stats.timeouts,
master->stats.timeouts == 1 ? "" : "s");
master->stats.timeouts = 0;
}
if (master->stats.corrupted) {
- EC_WARN("%u frame%s CORRUPTED!\n", master->stats.corrupted,
+ EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n",
+ master->stats.corrupted,
master->stats.corrupted == 1 ? "" : "s");
master->stats.corrupted = 0;
}
if (master->stats.unmatched) {
- EC_WARN("%u datagram%s UNMATCHED!\n", master->stats.unmatched,
+ EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n",
+ master->stats.unmatched,
master->stats.unmatched == 1 ? "" : "s");
master->stats.unmatched = 0;
}
@@ -1299,10 +1245,9 @@
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
- if (master->debug_level)
- EC_DBG("Idle thread running with send interval = %d us,"
- " max data size=%d\n", master->send_interval,
- master->max_queue_size);
+ EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %d us,"
+ " max data size=%d\n", master->send_interval,
+ master->max_queue_size);
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
@@ -1351,8 +1296,7 @@
}
}
- if (master->debug_level)
- EC_DBG("Master IDLE thread exiting...\n");
+ EC_MASTER_DBG(master, 1, "Master IDLE thread exiting...\n");
return 0;
}
@@ -1367,11 +1311,9 @@
ec_slave_t *slave = NULL;
int fsm_exec;
- if (master->debug_level)
- EC_DBG("Operation thread running with fsm interval = %d us,"
- " max data size=%d\n",
- master->send_interval,
- master->max_queue_size);
+ EC_MASTER_DBG(master, 1, "Operation thread running"
+ " with fsm interval = %d us, max data size=%d\n",
+ master->send_interval, master->max_queue_size);
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
@@ -1411,8 +1353,7 @@
#endif
}
- if (master->debug_level)
- EC_DBG("Master OP thread exiting...\n");
+ EC_MASTER_DBG(master, 1, "Master OP thread exiting...\n");
return 0;
}
@@ -1426,7 +1367,7 @@
struct sched_param param = { .sched_priority = 0 };
if (master->eoe_thread) {
- EC_WARN("EoE already running!\n");
+ EC_MASTER_WARN(master, "EoE already running!\n");
return;
}
@@ -1434,16 +1375,18 @@
return;
if (!master->send_cb || !master->receive_cb) {
- EC_WARN("No EoE processing because of missing callbacks!\n");
+ EC_MASTER_WARN(master, "No EoE processing"
+ " because of missing callbacks!\n");
return;
}
- EC_INFO("Starting EoE thread.\n");
+ EC_MASTER_INFO(master, "Starting EoE thread.\n");
master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
"EtherCAT-EoE");
if (IS_ERR(master->eoe_thread)) {
int err = (int) PTR_ERR(master->eoe_thread);
- EC_ERR("Failed to start EoE thread (error %i)!\n", err);
+ EC_MASTER_ERR(master, "Failed to start EoE thread (error %i)!\n",
+ err);
master->eoe_thread = NULL;
return;
}
@@ -1459,11 +1402,11 @@
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
if (master->eoe_thread) {
- EC_INFO("Stopping EoE thread.\n");
+ EC_MASTER_INFO(master, "Stopping EoE thread.\n");
kthread_stop(master->eoe_thread);
master->eoe_thread = NULL;
- EC_INFO("EoE thread exited.\n");
+ EC_MASTER_INFO(master, "EoE thread exited.\n");
}
}
@@ -1477,8 +1420,7 @@
ec_eoe_t *eoe;
unsigned int none_open, sth_to_send, all_idle;
- if (master->debug_level)
- EC_DBG("EoE thread running.\n");
+ EC_MASTER_DBG(master, 1, "EoE thread running.\n");
while (!kthread_should_stop()) {
none_open = 1;
@@ -1527,8 +1469,7 @@
}
}
- if (master->debug_level)
- EC_DBG("EoE thread exiting...\n");
+ EC_MASTER_DBG(master, 1, "EoE thread exiting...\n");
return 0;
}
#endif
@@ -1802,13 +1743,14 @@
)
{
if (level > 2) {
- EC_ERR("Invalid debug level %u!\n", level);
+ EC_MASTER_ERR(master, "Invalid debug level %u!\n", level);
return -EINVAL;
}
if (level != master->debug_level) {
master->debug_level = level;
- EC_INFO("Master debug level set to %u.\n", master->debug_level);
+ EC_MASTER_INFO(master, "Master debug level set to %u.\n",
+ master->debug_level);
}
return 0;
@@ -1888,7 +1830,7 @@
return;
if (ec_master_calc_topology_rec(master, NULL, &slave_position))
- EC_ERR("Failed to calculate bus topology.\n");
+ EC_MASTER_ERR(master, "Failed to calculate bus topology.\n");
}
/*****************************************************************************/
@@ -1930,6 +1872,37 @@
ec_master_calc_transmission_delays(master);
}
+/*****************************************************************************/
+
+/** Request OP state for configured slaves.
+ */
+void ec_master_request_op(
+ ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ unsigned int i;
+ ec_slave_t *slave;
+
+ if (!master->active)
+ return;
+
+ EC_MASTER_DBG(master, 1, "Requesting OP...\n");
+
+ // request OP for all configured slaves
+ for (i = 0; i < master->slave_count; i++) {
+ slave = master->slaves + i;
+ if (slave->config) {
+ ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
+ }
+ }
+
+ // always set DC reference clock to OP
+ if (master->dc_ref_clock) {
+ ec_slave_request_state(master->dc_ref_clock,
+ EC_SLAVE_STATE_OP);
+ }
+}
+
/******************************************************************************
* Application interface
*****************************************************************************/
@@ -1943,11 +1916,11 @@
ec_domain_t *domain, *last_domain;
unsigned int index;
- if (master->debug_level)
- EC_DBG("ecrt_master_create_domain(master = 0x%p)\n", master);
+ EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n",
+ master);
if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
- EC_ERR("Error allocating domain memory!\n");
+ EC_MASTER_ERR(master, "Error allocating domain memory!\n");
return ERR_PTR(-ENOMEM);
}
@@ -1965,8 +1938,7 @@
up(&master->master_sem);
- if (master->debug_level)
- EC_DBG("Created domain %u.\n", domain->index);
+ EC_MASTER_DBG(master, 1, "Created domain %u.\n", domain->index);
return domain;
}
@@ -1992,11 +1964,10 @@
int eoe_was_running;
#endif
- if (master->debug_level)
- EC_DBG("ecrt_master_activate(master = 0x%p)\n", master);
+ EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
if (master->active) {
- EC_WARN("%s: Master already active!\n", __func__);
+ EC_MASTER_WARN(master, "%s: Master already active!\n", __func__);
return 0;
}
@@ -2008,17 +1979,12 @@
ret = ec_domain_finish(domain, domain_offset);
if (ret < 0) {
up(&master->master_sem);
- EC_ERR("Failed to finish domain 0x%p!\n", domain);
+ EC_MASTER_ERR(master, "Failed to finish domain 0x%p!\n", domain);
return ret;
}
domain_offset += domain->data_size;
}
- // always set DC reference clock to OP
- if (master->dc_ref_clock) {
- ec_slave_request_state(master->dc_ref_clock, EC_SLAVE_STATE_OP);
- }
-
up(&master->master_sem);
// restart EoE process and master thread with new locking
@@ -2029,8 +1995,7 @@
ec_master_eoe_stop(master);
#endif
- if (master->debug_level)
- EC_DBG("FSM datagram is %p.\n", &master->fsm_datagram);
+ EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
@@ -2047,13 +2012,17 @@
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
- EC_ERR("Failed to start master thread!\n");
+ EC_MASTER_ERR(master, "Failed to start master thread!\n");
return ret;
}
master->allow_config = 1; // request the current configuration
master->allow_scan = 1; // allow re-scanning on topology change
master->active = 1;
+
+ // notify state machine, that the configuration shall now be applied
+ master->config_changed = 1;
+
return 0;
}
@@ -2067,11 +2036,11 @@
int eoe_was_running;
#endif
- if (master->debug_level)
- EC_DBG("ecrt_master_deactivate(master = 0x%x)\n", (u32) master);
+ EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%x)\n",
+ (u32) master);
if (!master->active) {
- EC_WARN("%s: Master not active.\n", __func__);
+ EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
return;
}
@@ -2113,7 +2082,7 @@
master->app_time = 0ULL;
master->app_start_time = 0ULL;
- master->has_start_time = 0;
+ master->has_app_time = 0;
#ifdef EC_EOE
if (eoe_was_running) {
@@ -2122,7 +2091,7 @@
#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
- EC_WARN("Failed to restart master thread!\n");
+ EC_MASTER_WARN(master, "Failed to restart master thread!\n");
master->allow_scan = 1;
master->allow_config = 1;
@@ -2195,7 +2164,8 @@
time_us = (unsigned int) ((master->main_device.jiffies_poll -
datagram->jiffies_sent) * 1000000 / HZ);
#endif
- EC_DBG("TIMED OUT datagram %p, index %02X waited %u us.\n",
+ EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p,"
+ " index %02X waited %u us.\n",
datagram, datagram->index, time_us);
}
}
@@ -2229,10 +2199,10 @@
unsigned int found = 0;
- if (master->debug_level)
- EC_DBG("ecrt_master_slave_config(master = 0x%p, alias = %u, "
- "position = %u, vendor_id = 0x%08x, product_code = 0x%08x)\n",
- master, alias, position, vendor_id, product_code);
+ EC_MASTER_DBG(master, 1, "ecrt_master_slave_config(master = 0x%p,"
+ " alias = %u, position = %u, vendor_id = 0x%08x,"
+ " product_code = 0x%08x)\n",
+ master, alias, position, vendor_id, product_code);
list_for_each_entry(sc, &master->configs, list) {
if (sc->alias == alias && sc->position == position) {
@@ -2243,20 +2213,21 @@
if (found) { // config with same alias/position already existing
if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
- EC_ERR("Slave type mismatch. Slave was configured as"
- " 0x%08X/0x%08X before. Now configuring with"
- " 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
+ EC_MASTER_ERR(master, "Slave type mismatch. Slave was"
+ " configured as 0x%08X/0x%08X before. Now configuring"
+ " with 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
vendor_id, product_code);
return ERR_PTR(-ENOENT);
}
} else {
- if (master->debug_level)
- EC_DBG("Creating slave configuration for %u:%u, 0x%08X/0x%08X.\n",
- alias, position, vendor_id, product_code);
+ EC_MASTER_DBG(master, 1, "Creating slave configuration for %u:%u,"
+ " 0x%08X/0x%08X.\n",
+ alias, position, vendor_id, product_code);
if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for slave configuration.\n");
+ EC_MASTER_ERR(master, "Failed to allocate memory"
+ " for slave configuration.\n");
return ERR_PTR(-ENOMEM);
}
@@ -2291,9 +2262,8 @@
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
{
- if (master->debug_level)
- EC_DBG("ecrt_master(master = 0x%p, master_info = 0x%p)\n",
- master, master_info);
+ EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p,"
+ " master_info = 0x%p)\n", master, master_info);
master_info->slave_count = master->slave_count;
master_info->link_up = master->main_device.link_state;
@@ -2342,10 +2312,9 @@
void ecrt_master_callbacks(ec_master_t *master,
void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
{
- if (master->debug_level)
- EC_DBG("ecrt_master_callbacks(master = 0x%p, send_cb = 0x%p, "
- " receive_cb = 0x%p, cb_data = 0x%p)\n", master,
- send_cb, receive_cb, cb_data);
+ EC_MASTER_DBG(master, 1, "ecrt_master_callbacks(master = 0x%p,"
+ " send_cb = 0x%p, receive_cb = 0x%p, cb_data = 0x%p)\n",
+ master, send_cb, receive_cb, cb_data);
master->app_send_cb = send_cb;
master->app_receive_cb = receive_cb;
@@ -2390,9 +2359,10 @@
#endif
master->dc_jiffies_app_time = jiffies;
- if (unlikely(!master->has_start_time)) {
- master->app_start_time = app_time;
- master->has_start_time = 1;
+ if (unlikely(!master->has_app_time)) {
+ EC_MASTER_DBG(master, 1, "set application start time = %llu\n",app_time);
+ master->app_start_time = app_time;
+ master->has_app_time = 1;
}
}