diff -r 898f87414af1 -r f12ff7c08623 master/master.c --- a/master/master.c Wed Sep 12 12:30:48 2007 +0000 +++ b/master/master.c Wed Sep 12 13:10:15 2007 +0000 @@ -50,7 +50,9 @@ #include "slave.h" #include "device.h" #include "datagram.h" +#ifdef EC_EOE #include "ethernet.h" +#endif /*****************************************************************************/ @@ -58,7 +60,9 @@ void ec_master_sync_io(ec_master_t *); static int ec_master_idle_thread(ec_master_t *); static int ec_master_operation_thread(ec_master_t *); +#ifdef EC_EOE void ec_master_eoe_run(unsigned long); +#endif void ec_master_check_sdo(unsigned long); int ec_master_measure_bus_time(ec_master_t *); ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *); @@ -145,9 +149,12 @@ for (i = 0; i < HZ; i++) { master->idle_cycle_times[i] = 0; +#ifdef EC_EOE master->eoe_cycle_times[i] = 0; +#endif } master->idle_cycle_time_pos = 0; +#ifdef EC_EOE master->eoe_cycle_time_pos = 0; init_timer(&master->eoe_timer); @@ -155,6 +162,7 @@ master->eoe_timer.data = (unsigned long) master; master->eoe_running = 0; INIT_LIST_HEAD(&master->eoe_handlers); +#endif master->internal_lock = SPIN_LOCK_UNLOCKED; master->request_cb = NULL; @@ -228,7 +236,9 @@ ec_master_t *master /**< EtherCAT master */ ) { +#ifdef EC_EOE ec_master_clear_eoe_handlers(master); +#endif ec_master_destroy_slaves(master); ec_master_destroy_domains(master); ec_fsm_master_clear(&master->fsm); @@ -243,6 +253,7 @@ /*****************************************************************************/ +#ifdef EC_EOE /** * Clear and free all EoE handlers. */ @@ -259,6 +270,7 @@ kfree(eoe); } } +#endif /*****************************************************************************/ @@ -394,7 +406,9 @@ { master->mode = EC_MASTER_MODE_ORPHANED; +#ifdef EC_EOE ec_master_eoe_stop(master); +#endif ec_master_thread_stop(master); ec_master_destroy_slaves(master); } @@ -408,7 +422,9 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */) { ec_slave_t *slave; +#ifdef EC_EOE ec_eoe_t *eoe; +#endif down(&master->config_sem); master->allow_config = 0; // temporarily disable slave configuration @@ -442,11 +458,13 @@ list_for_each_entry(slave, &master->slaves, list) { ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); } +#ifdef EC_EOE // ... but set EoE slaves to OP list_for_each_entry(eoe, &master->eoe_handlers, list) { if (ec_eoe_is_open(eoe)) ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP); } +#endif if (master->debug_level) EC_DBG("Switching to operation mode.\n"); @@ -475,11 +493,15 @@ /**< EtherCAT master */) { ec_slave_t *slave; +#ifdef EC_EOE ec_eoe_t *eoe; +#endif master->mode = EC_MASTER_MODE_IDLE; +#ifdef EC_EOE ec_master_eoe_stop(master); +#endif ec_master_thread_stop(master); master->request_cb = ec_master_request_cb; @@ -491,17 +513,21 @@ ec_slave_reset(slave); ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); } +#ifdef EC_EOE // ... but leave EoE slaves in OP list_for_each_entry(eoe, &master->eoe_handlers, list) { if (ec_eoe_is_open(eoe)) ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP); } +#endif ec_master_destroy_domains(master); if (ec_master_thread_start(master, ec_master_idle_thread)) EC_WARN("Failed to restart master thread!\n"); +#ifdef EC_EOE ec_master_eoe_start(master); +#endif master->allow_scan = 1; master->allow_config = 1; @@ -941,7 +967,9 @@ ) { off_t off = 0; +#ifdef EC_EOE ec_eoe_t *eoe; +#endif uint32_t cur, sum, min, max, pos, i; off += sprintf(buffer + off, "\nMode: "); @@ -990,6 +1018,7 @@ off += sprintf(buffer + off, " Idle cycle: %u / %u.%u / %u\n", min, sum / HZ, (sum * 100 / HZ) % 100, max); +#ifdef EC_EOE sum = 0; min = 0xFFFFFFFF; max = 0; @@ -1010,6 +1039,7 @@ eoe->dev->name, eoe->rx_rate, eoe->tx_rate, ((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024); } +#endif off += sprintf(buffer + off, "\n"); @@ -1079,6 +1109,7 @@ /*****************************************************************************/ +#ifdef EC_EOE /** Starts Ethernet-over-EtherCAT processing on demand. */ @@ -1136,6 +1167,7 @@ cycles_t cycles_start, cycles_end; unsigned long restart_jiffies; + list_for_each_entry(eoe, &master->eoe_handlers, list) { if (ec_eoe_is_open(eoe)) { none_open = 0; @@ -1173,6 +1205,7 @@ master->eoe_timer.expires += restart_jiffies; add_timer(&master->eoe_timer); } +#endif /*****************************************************************************/ @@ -1435,7 +1468,9 @@ } // restart EoE process and master thread with new locking +#ifdef EC_EOE ec_master_eoe_stop(master); +#endif ec_master_thread_stop(master); ec_master_prepare(master); // prepare asynchronous IO @@ -1453,7 +1488,9 @@ EC_ERR("Failed to start master thread!\n"); return -1; } +#ifdef EC_EOE ec_master_eoe_start(master); +#endif return 0; }