# HG changeset patch # User Florian Pose # Date 1247218687 0 # Node ID 88f242b722ce7988c48aa7b12d21b2e27eb82367 # Parent 6c632c8f45cccb8d91cfb23b9a324b7172a8924b Reverted accidential checkin. diff -r 6c632c8f45cc -r 88f242b722ce TODO --- a/TODO Fri Jul 10 09:36:50 2009 +0000 +++ b/TODO Fri Jul 10 09:38:07 2009 +0000 @@ -21,7 +21,6 @@ - Check if register 0x0980 is working, to avoid clearing it when configuring. - Create an interface to query the System Time Difference registers. -* Remove byte-swapping functions from user space. * EoE: - Only execute one EoE handler per cycle. - Replace locking callbacks. diff -r 6c632c8f45cc -r 88f242b722ce include/ecrt.h --- a/include/ecrt.h Fri Jul 10 09:36:50 2009 +0000 +++ b/include/ecrt.h Fri Jul 10 09:38:07 2009 +0000 @@ -192,22 +192,6 @@ /*****************************************************************************/ -#ifndef __KERNEL__ - -/** Master information. - * - * This is used as an output parameter of ecrt_master(). - * - * \see ecrt_master(). - */ -typedef struct { - unsigned int slave_count; /**< Number of slaves in the bus. */ - unsigned int link_up : 1; /**< \a true, if the network link is up. */ - uint64_t app_time; /**< Application time. */ -} ec_master_info_t; - -/*****************************************************************************/ - /** Slave information. * * This is used as an output parameter of ecrt_master_slave(). @@ -229,8 +213,6 @@ char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */ } ec_slave_info_t; -#endif // #ifndef __KERNEL__ - /*****************************************************************************/ /** Domain working counter interpretation. @@ -392,52 +374,6 @@ ec_master_t *master /**< EtherCAT master */ ); - -#ifndef __KERNEL__ - -/** Opens an EtherCAT master for userspace access. - * - * This function has to be the first function an application has to call to - * use EtherCAT. The function takes the index of the master as its argument. - * The first master has index 0, the n-th master has index n - 1. The number - * of masters has to be specified when loading the master module. - * - * \return Pointer to the opened master, otherwise \a NULL. - */ -ec_master_t *ecrt_open_master( - unsigned int master_index /**< Index of the master to request. */ - ); - -/** Reserves an EtherCAT master for realtime operation. - * - * Before an application can use PDO/domain registration functions or SDO - * request functions on the master, it has to reserve one for exclusive use. - * - * \return 0 in case of success, else < 0 - * - */ - -int ecrt_reserve_master( - ec_master_t *master /**< EtherCAT master */ - ); - -/** Obtains master information. - * - * No memory is allocated on the heap in - * this function. - * - * \attention The pointer to this structure must point to a valid variable. - * - * \return 0 in case of success, else < 0 - */ -int ecrt_master( - ec_master_t *master, /**< EtherCAT master */ - ec_master_info_t *master_info /**< Structure that will output the - information */ - ); - -#endif // #ifndef __KERNEL__ - /****************************************************************************** * Master methods *****************************************************************************/ @@ -532,7 +468,7 @@ information */ ); -#endif /* #ifndef __KERNEL__ */ +#endif /* ifndef __KERNEL__ */ /** Finishes the configuration phase and prepares for cyclic operation. * @@ -667,7 +603,7 @@ uint32_t *abort_code /**< Abort code of the SDO upload. */ ); -#endif /* #ifndef __KERNEL__ */ +#endif /* ifndef __KERNEL__ */ /****************************************************************************** * Slave configuration methods diff -r 6c632c8f45cc -r 88f242b722ce lib/common.c --- a/lib/common.c Fri Jul 10 09:36:50 2009 +0000 +++ b/lib/common.c Fri Jul 10 09:38:07 2009 +0000 @@ -50,15 +50,37 @@ /*****************************************************************************/ +#define MAX_PATH_LEN 64 + ec_master_t *ecrt_request_master(unsigned int master_index) { - ec_master_t *master = ecrt_open_master(master_index); - if (master) { - if (ecrt_master_reserve(master) < 0) { - close(master->fd); - free(master); - master = 0; - } + char path[MAX_PATH_LEN]; + ec_master_t *master; + + master = malloc(sizeof(ec_master_t)); + if (!master) { + fprintf(stderr, "Failed to allocate memory.\n"); + return 0; + } + + master->process_data = NULL; + master->process_data_size = 0; + + snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index); + + master->fd = open(path, O_RDWR); + if (master->fd == -1) { + fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno)); + free(master); + return 0; + } + + if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) { + fprintf(stderr, "Failed to request master %u: %s\n", + master_index, strerror(errno)); + close(master->fd); + free(master); + return 0; } return master; @@ -66,36 +88,6 @@ /*****************************************************************************/ -#define MAX_PATH_LEN 64 - -ec_master_t *ecrt_open_master(unsigned int master_index) -{ - char path[MAX_PATH_LEN]; - ec_master_t *master; - - master = malloc(sizeof(ec_master_t)); - if (!master) { - fprintf(stderr, "Failed to allocate memory.\n"); - return 0; - } - - master->process_data = NULL; - master->process_data_size = 0; - - snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index); - - master->fd = open(path, O_RDWR); - if (master->fd == -1) { - fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno)); - free(master); - return 0; - } - - return master; -} - -/*****************************************************************************/ - void ecrt_release_master(ec_master_t *master) { if (master->process_data) { diff -r 6c632c8f45cc -r 88f242b722ce lib/master.c --- a/lib/master.c Fri Jul 10 09:36:50 2009 +0000 +++ b/lib/master.c Fri Jul 10 09:38:07 2009 +0000 @@ -42,17 +42,6 @@ /*****************************************************************************/ -int ecrt_master_reserve(ec_master_t *master) -{ - if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) { - fprintf(stderr, "Failed to reserve master: %s\n", - strerror(errno)); - return -1; - } -} - -/*****************************************************************************/ - ec_domain_t *ecrt_master_create_domain(ec_master_t *master) { ec_domain_t *domain; @@ -112,25 +101,6 @@ return sc; } - -/*****************************************************************************/ - -int ecrt_master(ec_master_t* master, - ec_master_info_t *master_info) -{ - ec_ioctl_master_t data; - if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) { - fprintf(stderr, "Failed to get master info: %s\n", - strerror(errno)); - return -1; - } - master_info->slave_count = data.slave_count; - master_info->link_up = data.devices[0].link_state; - master_info->app_time = data.app_time; - return 0; -} - - /*****************************************************************************/ int ecrt_master_slave(ec_master_t *master, uint16_t position, diff -r 6c632c8f45cc -r 88f242b722ce master/fsm_coe.c --- a/master/fsm_coe.c Fri Jul 10 09:36:50 2009 +0000 +++ b/master/fsm_coe.c Fri Jul 10 09:38:07 2009 +0000 @@ -1105,7 +1105,7 @@ if (slave->master->debug_level) { EC_DBG("Expedited download request:\n"); - ec_print_data(data, 10 + request->data_size); + ec_print_data(data, 10); } } else { // request->data_size > 4, use normal transfer type @@ -1662,7 +1662,7 @@ data_size, fsm->complete_size); data = ec_slave_mbox_prepare_send(slave, datagram, - 0x03, 10); + 0x03, 3); if (IS_ERR(data)) { fsm->state = ec_fsm_coe_error; return; @@ -1674,7 +1674,7 @@ if (master->debug_level) { EC_DBG("Upload segment request:\n"); - ec_print_data(data, 10); + ec_print_data(data, 3); } fsm->retries = EC_FSM_RETRIES; @@ -1876,7 +1876,7 @@ last_segment = EC_READ_U8(data + 2) & 0x01; seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1; if (rec_size > 10) { - data_size = rec_size - 3; // Header of segment upload is smaller then normal upload + data_size = rec_size - 10; } else { // == 10 /* seg_size contains the number of trailing bytes to ignore. */ data_size = rec_size - seg_size; @@ -1890,13 +1890,13 @@ return; } - memcpy(request->data + request->data_size, data + 3, data_size); + memcpy(request->data + request->data_size, data + 10, data_size); request->data_size += data_size; if (!last_segment) { fsm->toggle = !fsm->toggle; - data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10); + data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3); if (IS_ERR(data)) { fsm->state = ec_fsm_coe_error; return; @@ -1908,7 +1908,7 @@ if (master->debug_level) { EC_DBG("Upload segment request:\n"); - ec_print_data(data, 10); + ec_print_data(data, 3); } fsm->retries = EC_FSM_RETRIES;