--- a/rtdm/module.c Wed Mar 16 22:12:23 2011 +0100
+++ b/rtdm/module.c Thu Mar 17 21:13:36 2011 +0100
@@ -5,11 +5,10 @@
* ec_rtdm.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner
* 2011 IgH Andreas Stewering-Bone
*
- * This file is used for Prisma RT to interface to EtherCAT devices
*
- * This file is part of ethercatrtdm interface to IgH EtherCAT master
+ * This file is part of the IgH EtherCAT master
*
- * The Moehwald ec_rtdm interface is free software; you can
+ * The IgH EtherCAT master is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
@@ -43,23 +42,23 @@
#define EC_RTDM_MAX_MASTERS 5 /**< Maximum number of masters. */
#define EC_RTDM_GINFO(fmt, args...) \
- printk(KERN_INFO "EtherCATrtdm: " fmt, ##args)
+ rtdm_printk(KERN_INFO "EtherCATrtdm: " fmt, ##args)
#define EC_RTDM_GERR(fmt, args...) \
- printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args)
+ rtdm_printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args)
#define EC_RTDM_GWARN(fmt, args...) \
- printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args)
+ rtdm_printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args)
#define EC_RTDM_INFO(devno, fmt, args...) \
- printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args)
+ rtdm_printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args)
#define EC_RTDM_ERR(devno, fmt, args...) \
- printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args)
+ rtdm_printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args)
#define EC_RTDM_WARN(devno, fmt, args...) \
- printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args)
+ rtdm_printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args)
@@ -161,29 +160,8 @@
}
}
-void receive_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
-{
- if (pdrvstruc->master)
- {
- rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
- ecrt_master_receive(pdrvstruc->master);
- ecrt_domain_process(pdrvstruc->domain);
- pdrvstruc->reccnt++;
- rt_mutex_release(&pdrvstruc->masterlock);
- }
-}
-
-void send_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
-{
- if (pdrvstruc->master)
- {
- rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
- ecrt_domain_queue(pdrvstruc->domain);
- ecrt_master_send(pdrvstruc->master);
- pdrvstruc->sendcnt++;
- rt_mutex_release(&pdrvstruc->masterlock);
- }
-}
+
+
void detach_master(EC_RTDM_DRV_STRUCT * pdrvstruc)
{
@@ -342,49 +320,79 @@
}
}
break;
-
- case EC_RTDM_MSTRRECEIVE:
+ case EC_RTDM_MASTER_RECEIVE:
{
if (pdrvstruc->isattached)
{
- receive_process(pdrvstruc);
- }
- }
- break;
- case EC_RTDM_MSTRSEND:
- {
-
- if (pdrvstruc->isattached)
- {
- send_process(pdrvstruc);
- }
- }
- break;
- case EC_RTDM_MASTER_APP_TIME:
- {
- if (!pdrvstruc->isattached)
- {
- return -EFAULT;
- }
- if (rtdm_rw_user_ok(user_info, arg, sizeof(app_time)))
- {
- // copy data from user
- if (rtdm_copy_from_user(user_info, &app_time, arg, sizeof(app_time)))
- {
- return -EFAULT;
- }
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
-
- ecrt_master_application_time(pdrvstruc->master, app_time);
-
+ ecrt_master_receive(pdrvstruc->master);
+ pdrvstruc->reccnt++;
rt_mutex_release(&pdrvstruc->masterlock);
-
}
}
}
break;
+ case EC_RTDM_DOMAIN_PROCESS:
+ {
+ if (pdrvstruc->isattached)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+ ecrt_domain_process(pdrvstruc->domain);
+ rt_mutex_release(&pdrvstruc->masterlock);
+ }
+ }
+ break;
+ case EC_RTDM_MASTER_SEND:
+ {
+
+ if (pdrvstruc->isattached)
+ {
+ if (pdrvstruc->master)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+ ecrt_master_send(pdrvstruc->master);
+ pdrvstruc->sendcnt++;
+ rt_mutex_release(&pdrvstruc->masterlock);
+ }
+ }
+ }
+ break;
+ case EC_RTDM_DOMAIN_QUEQUE:
+ {
+ if (pdrvstruc->isattached)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+ ecrt_domain_queue(pdrvstruc->domain);
+ rt_mutex_release(&pdrvstruc->masterlock);
+ }
+ }
+ break;
+
+ case EC_RTDM_MASTER_APP_TIME:
+ {
+ if (!pdrvstruc->isattached)
+ {
+ rtdm_printk("ERROR : No Master attached\n");
+ return -EFAULT;
+ }
+ if (rtdm_safe_copy_from_user(user_info, &app_time, arg, sizeof(app_time)))
+ {
+ rtdm_printk("ERROR : can't copy data to driver\n");
+ return -EFAULT;
+ }
+
+ if (pdrvstruc->master)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+
+ ecrt_master_application_time(pdrvstruc->master, app_time);
+ rt_mutex_release(&pdrvstruc->masterlock);
+
+ }
+ }
+ break;
case EC_RTDM_SYNC_REF_CLOCK:
{
if (!pdrvstruc->isattached)
@@ -419,6 +427,40 @@
}
}
break;
+ case EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE:
+ {
+ if (!pdrvstruc->isattached)
+ {
+ return -EFAULT;
+ }
+ if (pdrvstruc->master)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+ ecrt_master_sync_monitor_queue(pdrvstruc->master);
+ rt_mutex_release(&pdrvstruc->masterlock);
+ }
+ }
+ break;
+ case EC_RTDM_MASTER_SYNC_MONITOR_PROCESS:
+ {
+ uint32_t ret;
+ if (!pdrvstruc->isattached)
+ {
+ return -EFAULT;
+ }
+ if (pdrvstruc->master)
+ {
+ rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
+ ret = ecrt_master_sync_monitor_process(pdrvstruc->master);
+ rt_mutex_release(&pdrvstruc->masterlock);
+ if (rtdm_safe_copy_to_user(user_info, arg, &ret, sizeof(ret)))
+ {
+ EC_RTDM_ERR(pdrvstruc->masterno,"copy to user param failed!\n");
+ ret=-EFAULT;
+ }
+ }
+ }
+ break;
case EC_RTDM_MSTRATTACH:
{
unsigned int mstridx;
@@ -650,7 +692,7 @@
driver_name: EC_RTDM_DEV_FILE_NAME,
driver_version: RTDM_DRIVER_VER(1,0,1),
peripheral_name: EC_RTDM_DEV_FILE_NAME,
- provider_name: "Moehwald GmbH - Bosch Group",
+ provider_name: "EtherLab Community",
// proc_name: ethcatrtdm_device.device_name,
};
@@ -703,7 +745,7 @@
{
unsigned int i;
- EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface to Igh EtherCAT Master - Moehwald GmbH\n");
+ EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface \n");
for (i=0;i<EC_RTDM_MAX_MASTERS;i++)
{
if (ec_rtdm_masterintf[i].isattached)
@@ -716,4 +758,4 @@
}
MODULE_LICENSE("GPL");
-MODULE_DESCRIPTION("EtherCAT RTDM Interface to Igh EtherCAT Master");
+MODULE_DESCRIPTION("EtherCAT RTDM Interface");