--- a/Makefile Mon Apr 24 10:47:03 2006 +0000
+++ b/Makefile Mon May 29 09:08:56 2006 +0000
@@ -10,7 +10,8 @@
#
# The IgH EtherCAT Master is free software; you can redistribute it
# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
#
# The IgH EtherCAT Master is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -21,36 +22,43 @@
# along with the IgH EtherCAT Master; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
#------------------------------------------------------------------------------
-ifneq ($(KERNELRELEASE),)
-
#------------------------------------------------------------------------------
# kbuild section
+ifneq ($(KERNELRELEASE),)
+
obj-m := master/ devices/
#------------------------------------------------------------------------------
-
-else
-
-#------------------------------------------------------------------------------
# default section
+else
+
ifneq ($(wildcard ethercat.conf),)
include ethercat.conf
else
-KERNEL := `uname -r`
-DEVICEINDEX := 99
+KERNEL := $(shell uname -r)
endif
-KERNELDIR := /lib/modules/$(KERNEL)/build
+KERNEL_DIR := /lib/modules/$(KERNEL)/build
+CURRENT_DIR := $(shell pwd)
modules:
- $(MAKE) -C $(KERNELDIR) M=`pwd`
+ $(MAKE) -C $(KERNEL_DIR) M=$(CURRENT_DIR)
clean: cleandoc
- $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+ $(MAKE) -C $(KERNEL_DIR) M=$(CURRENT_DIR) clean
doc:
doxygen Doxyfile
@@ -58,9 +66,8 @@
cleandoc:
@rm -rf doc
-
install:
- @./install.sh $(KERNEL) $(DEVICEINDEX)
+ @script/install.sh $(KERNEL)
#------------------------------------------------------------------------------
--- a/README Mon Apr 24 10:47:03 2006 +0000
+++ b/README Mon May 29 09:08:56 2006 +0000
@@ -77,7 +77,8 @@
The IgH EtherCAT Master is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License
-as published by the Free Software Foundation; version 2 of the License.
+as published by the Free Software Foundation; either version 2 of the
+License, or (at your option) any later version.
The IgH EtherCAT Master is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -88,4 +89,13 @@
along with the IgH EtherCAT Master; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+The right to use EtherCAT Technology is granted and comes free of
+charge under condition of compatibility of product made by
+Licensee. People intending to distribute/sell products based on the
+code, have to sign an agreement to guarantee that products using
+software based on IgH EtherCAT master stay compatible with the actual
+EtherCAT specification (which are released themselves as an open
+standard) as the (only) precondition to have the right to use EtherCAT
+Technology, IP and trade marks.
+
-------------------------------------------------------------------------------
--- a/TODO Mon Apr 24 10:47:03 2006 +0000
+++ b/TODO Mon May 29 09:08:56 2006 +0000
@@ -6,10 +6,9 @@
- Mailbox-Handler
- Dispatching of received mailbox data?
-- Ethernet over EtherCAT (EoE)
- File access over EtherCAT (FoE)
-- Number of frames, the NIC can handle
+- Number of frames the NIC can handle
- Remove slave type information from master / read XML files from user space
- eepro100 driver
--- a/devices/8139too.c Mon Apr 24 10:47:03 2006 +0000
+++ b/devices/8139too.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -120,7 +130,7 @@
*/
-#define DRV_NAME "8139too_ec"
+#define DRV_NAME "ec_8139too"
#define DRV_VERSION "0.9.27"
#include <linux/config.h>
@@ -329,7 +339,12 @@
{0,}
};
-MODULE_DEVICE_TABLE (pci, rtl8139_pci_tbl);
+
+/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+
+//MODULE_DEVICE_TABLE (pci, rtl8139_pci_tbl);
+
+/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
static struct {
const char str[ETH_GSTRING_LEN];
@@ -2219,8 +2234,7 @@
else
{
ecdev_receive(rtl_ec_dev,
- &rx_ring[ring_offset + 4] + ETH_HLEN,
- pkt_size - ETH_HLEN);
+ &rx_ring[ring_offset + 4], pkt_size);
dev->last_rx = jiffies;
tp->stats.rx_bytes += pkt_size;
tp->stats.rx_packets++;
--- a/devices/Makefile Mon Apr 24 10:47:03 2006 +0000
+++ b/devices/Makefile Mon May 29 09:08:56 2006 +0000
@@ -12,7 +12,8 @@
#
# The IgH EtherCAT Master is free software; you can redistribute it
# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
#
# The IgH EtherCAT Master is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -23,6 +24,15 @@
# along with the IgH EtherCAT Master; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/devices/ecdev.h Mon Apr 24 10:47:03 2006 +0000
+++ b/devices/ecdev.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/ethercat.conf.tmpl Mon Apr 24 10:47:03 2006 +0000
+++ b/ethercat.conf.tmpl Mon May 29 09:08:56 2006 +0000
@@ -9,10 +9,9 @@
#
#------------------------------------------------------------------------------
+#
# The kernel to compile the EtherCAT sources against
+#
KERNEL := `uname -r`
-# PCI index of the EtherCAT device
-DEVICEINDEX := 99
-
#------------------------------------------------------------------------------
--- a/ethercat.sh Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,98 +0,0 @@
-#!/bin/sh
-
-#------------------------------------------------------------------------------
-#
-# EtherCAT rc script
-#
-# $Id$
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-
-CONFIGFILE=/etc/sysconfig/ethercat
-
-#------------------------------------------------------------------------------
-
-print_usage()
-{
- echo "Usage: $0 { start | stop | restart }"
-}
-
-unload_module()
-{
- if lsmod | grep ^$1 > /dev/null; then
- echo " unloading module \"$1\"..."
- rmmod $1 || exit 1
- fi
-}
-
-#------------------------------------------------------------------------------
-
-# Get parameters
-if [ $# -eq 0 ]; then
- print_usage
- exit 1
-fi
-
-ACTION=$1
-
-# Load configuration from sysconfig
-
-if [ -f $CONFIGFILE ]; then
- . $CONFIGFILE
-else
- echo "ERROR: Configuration file \"$CONFIGFILE\" not found!"
- exit 1
-fi
-
-case $ACTION in
- start | restart)
- echo "Starting EtherCAT master..."
-
- # remove modules
- unload_module 8139too
- unload_module 8139cp
- unload_module ec_8139too
- unload_module ec_master
-
- echo " loading master modules..."
- if ! modprobe ec_8139too ec_device_index=$DEVICEINDEX; then
- echo "ERROR: Failed to load module!"
- exit 1
- fi
- ;;
-
- stop)
- echo "Stopping EtherCAT master..."
- unload_module ec_8139too
- unload_module ec_master
- if ! modprobe 8139too; then
- echo "Warning: Failed to restore 8139too module."
- fi
- ;;
-
- *)
- print_usage
- exit 1
-esac
-
-echo "done."
-exit 0
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/mini/Makefile Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,70 @@
+#----------------------------------------------------------------
+#
+# Makefile
+#
+# Minimal EtherCAT module.
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#----------------------------------------------------------------
+
+ifneq ($(KERNELRELEASE),)
+
+#----------------------------------------------------------------
+# kbuild section
+#----------------------------------------------------------------
+
+obj-m := ec_mini.o
+
+ec_mini-objs := mini.o
+
+#----------------------------------------------------------------
+
+else
+
+#----------------------------------------------------------------
+# default section
+#----------------------------------------------------------------
+
+ifneq ($(wildcard ethercat.conf),)
+include ethercat.conf
+else
+KERNELDIR = /usr/src/linux
+endif
+
+modules:
+ $(MAKE) -C $(KERNELDIR) M=`pwd`
+
+clean:
+ $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+
+#----------------------------------------------------------------
+
+endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/mini/ethercat.conf.tmpl Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,13 @@
+#------------------------------------------------------------------------------
+#
+# EtherCAT Konfigurationsdatei Kernel 2.6
+#
+# $Id$
+#
+# This file is a versioned template configuration. Copy it to "ethercat.conf"
+# (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+KERNELDIR = /usr/src/linux
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/mini/mini.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,259 @@
+/******************************************************************************
+ *
+ * m i n i . c
+ *
+ * Minimal module for EtherCAT.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/timer.h>
+#include <linux/spinlock.h>
+#include <linux/interrupt.h>
+
+#include "../../include/ecrt.h" // EtherCAT realtime interface
+
+#define ASYNC
+#define FREQUENCY 100
+
+/*****************************************************************************/
+
+struct timer_list timer;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
+
+// data fields
+//void *r_ssi_input, *r_ssi_status, *r_4102[3];
+
+// channels
+uint32_t k_pos;
+uint8_t k_stat;
+
+ec_field_init_t domain1_fields[] = {
+ {NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
+ {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void run(unsigned long data)
+{
+ static unsigned int counter = 0;
+
+ spin_lock(&master_lock);
+
+#ifdef ASYNC
+ // receive
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+#else
+ // send and receive
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+#endif
+
+ // process data
+ //k_pos = EC_READ_U32(r_ssi);
+
+#ifdef ASYNC
+ // send
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
+#endif
+
+ spin_unlock(&master_lock);
+
+ if (counter) {
+ counter--;
+ }
+ else {
+ counter = FREQUENCY;
+ //printk(KERN_INFO "k_pos = %i\n", k_pos);
+ //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
+ }
+
+ // restart timer
+ timer.expires += HZ / FREQUENCY;
+ add_timer(&timer);
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ spin_lock_bh(&master_lock);
+ return 0; // access allowed
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ spin_unlock_bh(&master_lock);
+}
+
+/*****************************************************************************/
+
+int __init init_mini_module(void)
+{
+ printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+ if ((master = ecrt_request_master(0)) == NULL) {
+ printk(KERN_ERR "Requesting master 0 failed!\n");
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO "Registering domain...\n");
+ if (!(domain1 = ecrt_master_create_domain(master)))
+ {
+ printk(KERN_ERR "Domain creation failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Registering domain fields...\n");
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "Field registration failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Activating master...\n");
+ if (ecrt_master_activate(master)) {
+ printk(KERN_ERR "Failed to activate master!\n");
+ goto out_release_master;
+ }
+
+#if 0
+ if (ecrt_master_fetch_sdo_lists(master)) {
+ printk(KERN_ERR "Failed to fetch SDO lists!\n");
+ goto out_deactivate;
+ }
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "5"))) {
+ printk(KERN_ERR "Failed to get slave 5!\n");
+ goto out_deactivate;
+ }
+
+ if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#if 0
+ printk(KERN_INFO "Writing alias...\n");
+ if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // send once and wait...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+#if 1
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+#endif
+
+ printk("Starting cyclic sample thread.\n");
+ init_timer(&timer);
+ timer.function = run;
+ timer.expires = jiffies + 10;
+ add_timer(&timer);
+
+ printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
+ return 0;
+
+#if 1
+ out_deactivate:
+ ecrt_master_deactivate(master);
+#endif
+ out_release_master:
+ ecrt_release_master(master);
+ out_return:
+ return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mini_module(void)
+{
+ printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+
+ if (master) {
+ del_timer_sync(&timer);
+ printk(KERN_INFO "Deactivating master...\n");
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ }
+
+ printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT minimal test environment");
+
+module_init(init_mini_module);
+module_exit(cleanup_mini_module);
+
+/*****************************************************************************/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/Makefile Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,91 @@
+#------------------------------------------------------------------------------
+#
+# Makefile
+#
+# Sample module for use with IgH MSR library.
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+MODULE := ec_msr_sample
+
+#------------------------------------------------------------------------------
+# kbuild section
+#------------------------------------------------------------------------------
+
+ifneq ($(KERNELRELEASE),)
+
+obj-m := $(MODULE).o
+
+$(MODULE)-objs := msr_sample.o \
+ rt_lib/msr-core/msr_lists.o \
+ rt_lib/msr-core/msr_main.o \
+ rt_lib/msr-core/msr_charbuf.o \
+ rt_lib/msr-core/msr_reg.o \
+ rt_lib/msr-core/msr_interpreter.o \
+ rt_lib/msr-core/msr_messages.o \
+ rt_lib/msr-core/msr_proc.o \
+ rt_lib/msr-core/msr_error_reg.o \
+ rt_lib/msr-utils/msr_utils.o \
+ rt_lib/msr-utils/msr_time.o \
+ rt_lib/msr-math/msr_base64.o \
+ rt_lib/msr-math/msr_hex_bin.o \
+ libm.o
+
+EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -I/usr/realtime/include \
+ -D_SIMULATION -mhard-float
+
+#------------------------------------------------------------------------------
+# default section
+#------------------------------------------------------------------------------
+
+else
+
+ifneq ($(wildcard kernel.conf),)
+include kernel.conf
+else
+KERNEL := $(shell uname -r)
+endif
+
+KERNELDIR := /lib/modules/$(KERNEL)/build
+
+modules:
+ $(MAKE) -C $(KERNELDIR) M=`pwd`
+
+clean:
+ $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+
+install:
+ @./install.sh $(MODULE) $(KERNEL)
+
+endif
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/install.sh Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,76 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+# Realtime module install script
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+# Fetch parameters
+
+if [ $# -ne 2 ]; then
+ echo "Usage: $0 <MODULENAME> <KERNEL>"
+ exit 1
+fi
+
+MODULENAME=$1
+KERNEL=$2
+
+MODULESDIR=/lib/modules/$KERNEL/kernel/drivers/rt
+
+echo "Realtime installer"
+echo " target: $MODULENAME"
+echo " kernel: $KERNEL"
+
+# Create target directory
+
+if [ ! -d $MODULESDIR ]; then
+ echo " creating $MODULESDIR..."
+ mkdir $MODULESDIR || exit 1
+fi
+
+# Install files
+
+echo " installing $MODULENAME..."
+if ! cp $MODULENAME.ko $MODULESDIR/$MODULENAME.ko; then exit 1; fi
+
+# Calculate dependencies
+
+echo " building module dependencies..."
+depmod
+
+# Finish
+
+echo "done."
+exit 0
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/kernel.conf.tmpl Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,15 @@
+#------------------------------------------------------------------------------
+#
+# Configuration file for MSR realtime modules
+#
+# $Id$
+#
+# This file is a versioned template configuration. Copy it to "kernel.conf"
+# (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+# Kernel sources for module compilation
+KERNEL := `uname -r`
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/libm.o_shipped Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,1 @@
+/usr/lib/libm.a
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_load Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,36 @@
+#!/bin/sh
+module="ec_msr_sample"
+device="msr"
+mode="664"
+
+# Group: since distributions do it differently, look for wheel or use staff
+if grep '^staff:' /etc/group > /dev/null; then
+ group="staff"
+else
+ group="wheel"
+fi
+
+# invoke insmod with all arguments we got
+# and use a pathname, as newer modutils don't look in . by default
+/sbin/insmod -f ./$module.ko $* || exit 1
+
+major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
+
+echo $major
+# Remove stale nodes and replace them, then give gid and perms
+# Usually the script is shorter, it's scull that has several devices in it.
+
+rm -f /dev/${device}
+mknod /dev/${device} c $major 0
+# ln -sf ${device}0 /dev/${device}
+chgrp users /dev/${device}
+chmod $mode /dev/${device}
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_param.h Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,41 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#ifndef _MSR_PARAM_H_
+#define _MSR_PARAM_H_
+
+#define MSR_ABTASTFREQUENZ 1000
+
+#endif
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_sample.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,307 @@
+/******************************************************************************
+ *
+ * Sample module for use with IgH MSR library.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+
+// RTAI
+#include "rtai_sched.h"
+#include "rtai_sem.h"
+
+// RT_lib
+#include <msr_main.h>
+#include <msr_reg.h>
+#include <msr_time.h>
+#include "msr_param.h"
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+#define ASYNC
+
+#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
+#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
+
+/*****************************************************************************/
+
+// RTAI
+RT_TASK task;
+SEM master_sem;
+cycles_t t_start = 0, t_critical;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+
+// raw process data
+void *r_ssi;
+void *r_ssi_st;
+
+// Channels
+uint32_t k_ssi;
+uint32_t k_ssi_st;
+
+ec_field_init_t domain1_fields[] = {
+ {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void msr_controller_run(void)
+{
+ rt_sem_wait(&master_sem);
+
+#ifdef ASYNC
+ // Empfangen
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+#else
+ // Senden und empfangen
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+#endif
+
+ // Prozessdaten verarbeiten
+ k_ssi = EC_READ_U32(r_ssi);
+ k_ssi_st = EC_READ_U8 (r_ssi_st);
+
+#ifdef ASYNC
+ // Senden
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
+#endif
+
+ rt_sem_signal(&master_sem);
+
+ msr_write_kanal_list();
+}
+
+/*****************************************************************************/
+
+void msr_run(long data)
+{
+ while (1) {
+ t_start = get_cycles();
+ MSR_RTAITHREAD_CODE(msr_controller_run(););
+ rt_task_wait_period();
+ }
+}
+
+/*****************************************************************************/
+
+int msr_reg(void)
+{
+ msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
+ msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
+ return 0;
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ // too close to the next RT cycle: deny access...
+ if (get_cycles() - t_start > t_critical) return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ rt_sem_signal(&master_sem);
+}
+
+/*****************************************************************************/
+
+int __init init_mod(void)
+{
+ RTIME ticks;
+#if 0
+ ec_slave_t *slave;
+#endif
+
+ printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
+
+ rt_sem_init(&master_sem, 1);
+ t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
+
+ if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {
+ printk(KERN_ERR "Failed to initialize rtlib!\n");
+ goto out_return;
+ }
+
+ if ((master = ecrt_request_master(0)) == NULL) {
+ printk(KERN_ERR "Failed to request master 0!\n");
+ goto out_msr_cleanup;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO "Creating domains...\n");
+ if (!(domain1 = ecrt_master_create_domain(master))) {
+ printk(KERN_ERR "Failed to create domains!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Registering domain fields...\n");
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "Failed to register domain fields.\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Activating master...\n");
+ if (ecrt_master_activate(master)) {
+ printk(KERN_ERR "Could not activate master!\n");
+ goto out_release_master;
+ }
+
+#if 0
+ if (ecrt_master_fetch_sdo_lists(master)) {
+ printk(KERN_ERR "Failed to fetch SDO lists!\n");
+ goto out_deactivate;
+ }
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+
+ if (
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
+ ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || // graycode
+ ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
+ ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
+ ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
+ ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
+ ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us
+ ) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+ if (ecrt_slave_write_alias(slave, 0x5678)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // Einmal senden und warten...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+
+ printk("Starting cyclic sample thread...\n");
+ ticks = start_rt_timer(nano2count(TIMERTICKS));
+ if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+ if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
+ printk(KERN_ERR "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
+
+ printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_deactivate:
+ ecrt_master_deactivate(master);
+ out_release_master:
+ ecrt_release_master(master);
+ out_msr_cleanup:
+ msr_rtlib_cleanup();
+ out_return:
+ rt_sem_delete(&master_sem);
+ return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mod(void)
+{
+ printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
+
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+ msr_rtlib_cleanup();
+
+ printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
+
+module_init(init_mod);
+module_exit(cleanup_mod);
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_unload Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,9 @@
+#!/bin/sh
+module="ec_msr_sample"
+device="msr"
+
+# invoke rmmod with all arguments we got
+/sbin/rmmod $module $* || exit 1
+
+# Remove stale nodes
+rm -f /dev/${device} /dev/${device}0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msrserv.pl Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,267 @@
+#!/usr/bin/perl -w
+
+#------------------------------------------------------------------------------
+#
+# Copyright (C) 2006 Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+#
+# Multithreaded Server
+# according to the example from "Programming Perl"
+# this code is improved according to the example from
+# perldoc perlipc, so now safely being usable under Perl 5.8
+# (see note (*))
+#
+# works with read/write on a device-file
+#
+#------------------------------------------------------------------------------
+
+require 5.002;
+use strict;
+BEGIN { $ENV{PATH} = '/opt/msr/bin:/usr/bin:/bin' }
+use Socket;
+use Carp;
+use FileHandle;
+use Getopt::Std;
+
+use Sys::Syslog qw(:DEFAULT setlogsock);
+
+use vars qw (
+ $self $pid $dolog $port $dev %opts $selfbase
+ $len $offset $stream $written $read $log $blksize
+ $instdir
+ $authfile %authhosts
+ );
+
+
+# Do logging to local syslogd by unix-domain socket instead of inetd
+setlogsock("unix");
+
+# Prototypes and some little Tools
+sub spawn;
+sub logmsg {
+ my ($level, $debug, @text) = @_;
+ syslog("daemon|$level", @text) if $debug > $dolog;
+# print STDERR "daemon|$level", @text, "\n" if $dolog;
+}
+sub out {
+ my $waitpid = wait;
+ logmsg("notice", 2, "$waitpid exited");
+ unlink "$selfbase.pid";
+ exit 0;
+}
+
+sub help {
+ print "\n usage: $0 [-l og] [-h elp] [-p port] [-d device]\n";
+ exit;
+}
+
+# Process Options
+%opts = (
+ "l" => 1,
+ "h" => 0,
+ "p" => 2345,
+ "d" => "/dev/msr"
+ );
+
+getopts("lhp:d:", \%opts);
+
+help if $opts{"h"};
+
+( $self = $0 ) =~ s+.*/++ ;
+( $selfbase = $self ) =~ s/\..*//;
+$log = "$selfbase.log";
+$dolog = $opts{"l"};
+$port = $opts{"p"};
+$dev = $opts{"d"};
+$blksize = 1024; # try to write as much bytes
+$instdir = "/opt/msr";
+$authfile = "$instdir/etc/hosts.auth";
+
+# Start logging
+openlog($self, 'pid');
+
+# Flush Output, dont buffer
+$| = 1;
+
+# first fork and run in background
+if ($pid = fork) {
+# open LOG, ">$log" if $dolog;
+# close LOG;
+ logmsg("notice", 2, "forked process: $pid\n");
+ exit 0;
+}
+
+# Server tells about startup success
+open (PID, ">/$instdir/var/run/$selfbase.pid");
+print PID "$$\n";
+close PID;
+
+# Cleanup on exit (due to kill -TERM signal)
+$SIG{TERM} = \&out;
+
+# We use streams
+my $proto = getprotobyname('tcp');
+
+# Open Server socket
+socket(Server, PF_INET, SOCK_STREAM, $proto) or die "socket: $!";
+setsockopt(Server, SOL_SOCKET, SO_REUSEADDR, pack("l", 1))
+ or die "setsocketopt: $!";
+bind (Server, sockaddr_in($port, INADDR_ANY))
+ or die "bind: $!";
+listen (Server, SOMAXCONN)
+ or die "listen: $!";
+
+%authhosts = ();
+# get authorized hosts
+open (AUTH, $authfile)
+ or logmsg ("notice", 2, "Could not read allowed hosts file: $authfile");
+while (<AUTH>) {
+ chomp;
+ my $host = lc $_;
+ if ($host =~ /^[\d\w]/) {
+ $authhosts{$_} = 1;
+ logmsg ("notice", 2, "Authorized host: >$host<");
+ }
+}
+close (AUTH);
+
+# tell about open server socket
+logmsg ("notice", 2, "Server started at port $port");
+
+my $waitedpid = 0;
+my $paddr;
+
+# wait for children to return, thus avoiding zombies
+# improvement (*)
+use POSIX ":sys_wait_h";
+sub REAPER {
+ my $child;
+ while (($waitedpid = waitpid(-1,WNOHANG)) > 0) {
+ logmsg ("notice", 2, "reaped $waitedpid", ($? ? " with exit $?" : ""));
+ }
+ $SIG{CHLD} = \&REAPER; # loathe sysV
+}
+
+# also all sub-processes should wait for their children
+$SIG{CHLD} = \&REAPER;
+
+# start a new server for every incoming request
+# improvement (*) -- loop forever
+
+while ( 1 ) {
+ for ( $waitedpid = 0;
+ ($paddr = accept(Client,Server)) || $waitedpid;
+ $waitedpid = 0, close Client ) {
+ next if $waitedpid and not $paddr;
+ my ($port, $iaddr) = sockaddr_in($paddr);
+ my $name = lc gethostbyaddr($iaddr, AF_INET);
+ my $ipaddr = inet_ntoa($iaddr);
+ my $n = 0;
+
+# tell about the requesting client
+ logmsg ("info", 2, "Connection from >$ipaddr< ($name) at port $port");
+
+ spawn sub {
+ my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen);
+ my ($watchpegel, $shmpegel);
+ my ($rin, $rout, $in, $line, $data_requested, $oversample);
+ my (@channels);
+
+# to use stdio on writing to Client
+ Client->autoflush();
+
+# Open Device
+ sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev");
+
+# Bitmask to check for input on stdin
+ $rin = "";
+ vec($rin, fileno(Client), 1) = 1;
+
+# check for authorized hosts
+ my $access = 'deny';
+ $access = 'allow' if $authhosts{$ipaddr};
+ $line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n";
+ logmsg ("info", 2, $line);
+ $len = length $line;
+ $offset = 0;
+ while ($len) {
+ $written = syswrite (DEV, $line, $len, $offset);
+ $len -= $written;
+ $offset += $written;
+ }
+
+ while ( 1 ) {
+ $in = select ($rout=$rin, undef, undef, 0.0); # poll client
+# look for any Input from Client
+ if ($in) {
+# exit on EOF
+ $len = sysread (Client, $line, $blksize) or exit;
+ logmsg("info", 0, "got $len bytes: \"$line\"");
+ $offset = 0;
+# copy request to device
+ while ($len) {
+ $written = syswrite (DEV, $line, $len, $offset);
+ $len -= $written;
+ $offset += $written;
+ }
+ }
+# look for some output from device
+ if ($len = sysread DEV, $stream, $blksize) {
+ print Client $stream;
+ } else {
+ select undef, undef, undef, 0.1; # calm down if nothing on device
+ }
+ }
+ };
+ logmsg("info", 2, "spawned\n");
+ }
+ logmsg("info", 2, "server loop\n");
+}
+
+sub spawn {
+ my $coderef = shift;
+
+ unless (@_ == 0 && $coderef && ref($coderef) eq 'CODE') {
+ confess "usage: spawn CODEREF";
+ }
+ my $pid;
+ if (!defined($pid = fork)) {
+ logmsg ("notice", 2, "fork failed: $!");
+ return;
+ } elsif ($pid) {
+ logmsg ("notice", 2, "Request $pid");
+ return; # Parent
+ }
+
+# do not use fdup as in the original example
+# open (STDIN, "<&Client") or die "Can't dup client to stdin";
+# open (STDOUT, ">&Client") or die "Can't dup client to stdout";
+# STDOUT->autoflush();
+ exit &$coderef();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/Makefile Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,72 @@
+#------------------------------------------------------------------------------
+#
+# Makefile
+#
+# RTAI sample module for the IgH EtherCAT master.
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+ifneq ($(KERNELRELEASE),)
+
+#------------------------------------------------------------------------------
+# kbuild section
+#------------------------------------------------------------------------------
+
+obj-m := ec_rtai_sample.o
+
+ec_rtai_sample-objs := rtai_sample.o
+
+EXTRA_CFLAGS := -I/usr/realtime/include -mhard-float
+
+#------------------------------------------------------------------------------
+
+else
+
+#------------------------------------------------------------------------------
+# default section
+#------------------------------------------------------------------------------
+
+ifneq ($(wildcard kernel.conf),)
+include kernel.conf
+else
+KERNELDIR = /usr/src/linux
+endif
+
+modules:
+ $(MAKE) -C $(KERNELDIR) M=`pwd`
+
+clean:
+ $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+
+#------------------------------------------------------------------------------
+
+endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/kernel.conf.tmpl Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,13 @@
+#------------------------------------------------------------------------------
+#
+# Kernel configuration file for RTAI sample.
+#
+# $Id$
+#
+# This file is a versioned template configuration. Copy it to "kernel.conf"
+# (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+KERNELDIR = /usr/src/linux
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/rtai_sample.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,281 @@
+/******************************************************************************
+ *
+ * RTAI sample for the IgH EtherCAT master.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+
+// RTAI
+#include "rtai_sched.h"
+#include "rtai_sem.h"
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT RTAI sample module");
+
+/*****************************************************************************/
+
+// comment this for synchronous IO
+#define ASYNC
+
+// RTAI task frequency in Hz
+#define FREQUENCY 10000
+
+#define TIMERTICKS (1000000000 / FREQUENCY)
+
+/*****************************************************************************/
+
+// RTAI
+RT_TASK task;
+SEM master_sem;
+cycles_t t_last_start = 0;
+cycles_t t_critical;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+
+// data fields
+void *r_ssi_input;
+
+// channels
+uint32_t k_pos;
+
+ec_field_init_t domain1_fields[] = {
+ {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0},
+ {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void run(long data)
+{
+ while (1)
+ {
+ t_last_start = get_cycles();
+ rt_sem_wait(&master_sem);
+
+#ifdef ASYNC
+ // receive
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+#else
+ // send and receive
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+#endif
+
+ // process data
+ k_pos = EC_READ_U32(r_ssi_input);
+
+#ifdef ASYNC
+ // send
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
+#endif
+
+ rt_sem_signal(&master_sem);
+ rt_task_wait_period();
+ }
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ // too close to the next RT cycle: deny access...
+ if (get_cycles() - t_last_start > t_critical) return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ rt_sem_signal(&master_sem);
+}
+
+/*****************************************************************************/
+
+int __init init_mod(void)
+{
+ RTIME tick_period, requested_ticks, now;
+
+ printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");
+
+ rt_sem_init(&master_sem, 1);
+
+ t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80%
+
+ if ((master = ecrt_request_master(0)) == NULL) {
+ printk(KERN_ERR "Requesting master 0 failed!\n");
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO "Registering domain...\n");
+ if (!(domain1 = ecrt_master_create_domain(master)))
+ {
+ printk(KERN_ERR "Domain creation failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Registering domain fields...\n");
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "Field registration failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Activating master...\n");
+ if (ecrt_master_activate(master)) {
+ printk(KERN_ERR "Failed to activate master!\n");
+ goto out_release_master;
+ }
+
+#if 0
+ if (ecrt_master_fetch_sdo_lists(master)) {
+ printk(KERN_ERR "Failed to fetch SDO lists!\n");
+ goto out_deactivate;
+ }
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "5"))) {
+ printk(KERN_ERR "Failed to get slave 5!\n");
+ goto out_deactivate;
+ }
+
+ if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#if 0
+ printk(KERN_INFO "Writing alias...\n");
+ if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // send once and wait...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+
+ printk("Starting cyclic sample thread...\n");
+ requested_ticks = nano2count(TIMERTICKS);
+ tick_period = start_rt_timer(requested_ticks);
+ printk(KERN_INFO "RT timer started with %i/%i ticks.\n",
+ (int) tick_period, (int) requested_ticks);
+
+ if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+
+ now = rt_get_time();
+ if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
+ printk(KERN_ERR "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
+
+ printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_deactivate:
+ ecrt_master_deactivate(master);
+ out_release_master:
+ ecrt_release_master(master);
+ out_return:
+ rt_sem_delete(&master_sem);
+ return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mod(void)
+{
+ printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
+
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+
+ printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+module_init(init_mod);
+module_exit(cleanup_mod);
+
+/*****************************************************************************/
+
--- a/include/ecrt.h Mon Apr 24 10:47:03 2006 +0000
+++ b/include/ecrt.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -88,6 +98,9 @@
* Master methods
*****************************************************************************/
+void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
+ void (*release_cb)(void *), void *cb_data);
+
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
int ecrt_master_activate(ec_master_t *master);
@@ -102,6 +115,8 @@
void ecrt_master_run(ec_master_t *master);
+int ecrt_master_start_eoe(ec_master_t *master);
+
void ecrt_master_debug(ec_master_t *master, int level);
void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);
--- a/install.sh Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,93 +0,0 @@
-#!/bin/sh
-
-#------------------------------------------------------------------------------
-#
-# EtherCAT install script
-#
-# $Id$
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-
-CONFIGFILE=/etc/sysconfig/ethercat
-
-#------------------------------------------------------------------------------
-
-# install function
-
-install()
-{
- echo " $1"
- if ! cp $1 $INSTALLDIR; then exit 1; fi
-}
-
-#------------------------------------------------------------------------------
-
-# Fetch parameter
-
-if [ $# -ne 2 ]; then
- echo "This script is called by \"make\". Run \"make install\" instead."
- exit 1
-fi
-
-KERNEL=$1
-DEVICEINDEX=$2
-
-INSTALLDIR=/lib/modules/$KERNEL/kernel/drivers/net
-echo "EtherCAT installer - Kernel: $KERNEL"
-
-# Copy files
-
-echo " installing modules..."
-install master/ec_master.ko
-install devices/ec_8139too.ko
-
-# Update dependencies
-
-echo " building module dependencies..."
-depmod
-
-# Create configuration file
-
-if [ -f $CONFIGFILE ]; then
- echo " notice: using existing configuration file."
-else
- echo " creating $CONFIGFILE..."
- echo "DEVICEINDEX=$DEVICEINDEX" > $CONFIGFILE || exit 1
-fi
-
-# Install rc script
-
-echo " installing startup script..."
-cp ethercat.sh /etc/init.d/ethercat || exit 1
-if [ ! -L /usr/sbin/rcethercat ]; then
- ln -s /etc/init.d/ethercat /usr/sbin/rcethercat || exit 1
-fi
-
-# Install tools
-
-echo " installing tools..."
-cp tools/ec_list.pl /usr/local/bin/ec_list || exit 1
-
-# Finish
-
-echo "EtherCAT installer done."
-exit 0
-
-#------------------------------------------------------------------------------
--- a/master/Makefile Mon Apr 24 10:47:03 2006 +0000
+++ b/master/Makefile Mon May 29 09:08:56 2006 +0000
@@ -12,7 +12,8 @@
#
# The IgH EtherCAT Master is free software; you can redistribute it
# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
#
# The IgH EtherCAT Master is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -23,6 +24,15 @@
# along with the IgH EtherCAT Master; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
@@ -33,7 +43,7 @@
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o slave.o command.o types.o \
- domain.o mailbox.o canopen.o ethernet.o
+ domain.o mailbox.o canopen.o ethernet.o debug.o fsm.o
REV := $(shell svnversion $(src) 2>/dev/null)
--- a/master/canopen.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/canopen.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/command.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/command.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -29,7 +39,6 @@
/*****************************************************************************/
#include <linux/slab.h>
-#include <linux/delay.h>
#include "command.h"
#include "master.h"
@@ -68,6 +77,7 @@
command->index = 0x00;
command->working_counter = 0x00;
command->state = EC_CMD_INIT;
+ command->t_sent = 0;
}
/*****************************************************************************/
--- a/master/command.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/command.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -32,6 +42,7 @@
#define _EC_COMMAND_H_
#include <linux/list.h>
+#include <linux/timex.h>
#include "globals.h"
@@ -106,6 +117,7 @@
uint8_t index; /**< command index (set by master) */
uint16_t working_counter; /**< working counter */
ec_command_state_t state; /**< command state */
+ cycles_t t_sent; /**< time, the commands was sent */
}
ec_command_t;
@@ -113,6 +125,7 @@
void ec_command_init(ec_command_t *);
void ec_command_clear(ec_command_t *);
+int ec_command_prealloc(ec_command_t *, size_t);
int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/debug.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,189 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ Ethernet interface for debugging purposes.
+*/
+
+/*****************************************************************************/
+
+#include <linux/etherdevice.h>
+
+#include "globals.h"
+#include "debug.h"
+
+/*****************************************************************************/
+
+// net_device functions
+int ec_dbgdev_open(struct net_device *);
+int ec_dbgdev_stop(struct net_device *);
+struct net_device_stats *ec_dbgdev_stats(struct net_device *);
+
+/*****************************************************************************/
+
+/**
+ Debug constructor.
+ Initializes the debug object, creates a net_device and registeres it.
+*/
+
+int ec_debug_init(ec_debug_t *dbg /**< debug object */)
+{
+ int result;
+
+ dbg->opened = 0;
+ memset(&dbg->stats, 0, sizeof(struct net_device_stats));
+
+ if (!(dbg->dev =
+ alloc_netdev(sizeof(ec_debug_t *), "ec%d", ether_setup))) {
+ EC_ERR("Unable to allocate net_device for debug object!\n");
+ goto out_return;
+ }
+
+ // initialize net_device
+ dbg->dev->open = ec_dbgdev_open;
+ dbg->dev->stop = ec_dbgdev_stop;
+ dbg->dev->get_stats = ec_dbgdev_stats;
+
+ // initialize private data
+ *((ec_debug_t **) netdev_priv(dbg->dev)) = dbg;
+
+ // connect the net_device to the kernel
+ if ((result = register_netdev(dbg->dev))) {
+ EC_ERR("Unable to register net_device: error %i\n", result);
+ goto out_free;
+ }
+
+ return 0;
+
+ out_free:
+ free_netdev(dbg->dev);
+ dbg->dev = NULL;
+ out_return:
+ return -1;
+}
+
+/*****************************************************************************/
+
+/**
+ Debug destructor.
+ Unregisteres the net_device and frees allocated memory.
+*/
+
+void ec_debug_clear(ec_debug_t *dbg /**< debug object */)
+{
+ if (dbg->dev) {
+ unregister_netdev(dbg->dev);
+ free_netdev(dbg->dev);
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Sends frame data to the interface.
+*/
+
+void ec_debug_send(ec_debug_t *dbg, /**< debug object */
+ const uint8_t *data, /**< frame data */
+ size_t size /**< size of the frame data */
+ )
+{
+ struct sk_buff *skb;
+
+ if (!dbg->opened) return;
+
+ // allocate socket buffer
+ if (!(skb = dev_alloc_skb(size))) {
+ dbg->stats.rx_dropped++;
+ return;
+ }
+
+ // copy frame contents into socket buffer
+ memcpy(skb_put(skb, size), data, size);
+
+ // update device statistics
+ dbg->stats.rx_packets++;
+ dbg->stats.rx_bytes += size;
+
+ // pass socket buffer to network stack
+ skb->dev = dbg->dev;
+ skb->protocol = eth_type_trans(skb, dbg->dev);
+ skb->ip_summed = CHECKSUM_UNNECESSARY;
+ netif_rx(skb);
+}
+
+/******************************************************************************
+ * NET_DEVICE functions
+ *****************************************************************************/
+
+/**
+ Opens the virtual network device.
+*/
+
+int ec_dbgdev_open(struct net_device *dev /**< debug net_device */)
+{
+ ec_debug_t *dbg = *((ec_debug_t **) netdev_priv(dev));
+ dbg->opened = 1;
+ EC_INFO("debug interface %s opened.\n", dev->name);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Stops the virtual network device.
+*/
+
+int ec_dbgdev_stop(struct net_device *dev /**< debug net_device */)
+{
+ ec_debug_t *dbg = *((ec_debug_t **) netdev_priv(dev));
+ dbg->opened = 0;
+ EC_INFO("debug interface %s stopped.\n", dev->name);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Gets statistics about the virtual network device.
+*/
+
+struct net_device_stats *ec_dbgdev_stats(struct net_device *dev
+ /**< debug net_device */)
+{
+ ec_debug_t *dbg = *((ec_debug_t **) netdev_priv(dev));
+ return &dbg->stats;
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/debug.h Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,63 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ Network interface for debugging purposes.
+*/
+
+/*****************************************************************************/
+
+#include <linux/netdevice.h>
+
+/*****************************************************************************/
+
+/**
+ Debugging network interface.
+*/
+
+typedef struct
+{
+ struct net_device *dev; /**< net_device for virtual ethernet device */
+ struct net_device_stats stats; /**< device statistics */
+ uint8_t opened; /**< net_device is opened */
+}
+ec_debug_t;
+
+/*****************************************************************************/
+
+int ec_debug_init(ec_debug_t *);
+void ec_debug_clear(ec_debug_t *);
+void ec_debug_send(ec_debug_t *, const uint8_t *, size_t);
+
+/*****************************************************************************/
--- a/master/device.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/device.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -61,9 +71,14 @@
device->open = 0;
device->link_state = 0; // down
- if (!(device->tx_skb = dev_alloc_skb(ETH_HLEN + EC_MAX_FRAME_SIZE))) {
+ if (ec_debug_init(&device->dbg)) {
+ EC_ERR("Failed to init debug device!\n");
+ goto out_return;
+ }
+
+ if (!(device->tx_skb = dev_alloc_skb(ETH_FRAME_LEN))) {
EC_ERR("Error allocating device socket buffer!\n");
- return -1;
+ goto out_debug;
}
device->tx_skb->dev = net_dev;
@@ -76,6 +91,11 @@
memset(eth->h_dest, 0xFF, net_dev->addr_len);
return 0;
+
+ out_debug:
+ ec_debug_clear(&device->dbg);
+ out_return:
+ return -1;
}
/*****************************************************************************/
@@ -88,6 +108,7 @@
{
if (device->open) ec_device_close(device);
if (device->tx_skb) dev_kfree_skb(device->tx_skb);
+ ec_debug_clear(&device->dbg);
}
/*****************************************************************************/
@@ -180,6 +201,8 @@
ec_print_data(device->tx_skb->data + ETH_HLEN, size);
}
+ ec_debug_send(&device->dbg, device->tx_skb->data, ETH_HLEN + size);
+
// start sending
device->dev->hard_start_xmit(device->tx_skb, device->dev);
}
@@ -210,16 +233,19 @@
*/
void ecdev_receive(ec_device_t *device, /**< EtherCAT device */
- const void *data, /**< pointer to receibed data */
+ const void *data, /**< pointer to received data */
size_t size /**< number of bytes received */
)
{
if (unlikely(device->master->debug_level > 1)) {
EC_DBG("Received frame:\n");
- ec_print_data_diff(device->tx_skb->data + ETH_HLEN, data, size);
- }
-
- ec_master_receive(device->master, data, size);
+ ec_print_data_diff(device->tx_skb->data + ETH_HLEN,
+ data + ETH_HLEN, size - ETH_HLEN);
+ }
+
+ ec_debug_send(&device->dbg, data, size);
+
+ ec_master_receive(device->master, data + ETH_HLEN, size - ETH_HLEN);
}
/*****************************************************************************/
--- a/master/device.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/device.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -36,6 +46,7 @@
#include "../include/ecrt.h"
#include "../devices/ecdev.h"
#include "globals.h"
+#include "debug.h"
/*****************************************************************************/
@@ -54,6 +65,7 @@
ec_isr_t isr; /**< pointer to the device's interrupt service routine */
struct module *module; /**< pointer to the device's owning module */
uint8_t link_state; /**< device link state */
+ ec_debug_t dbg; /**< debug device */
};
/*****************************************************************************/
--- a/master/domain.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/domain.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/domain.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/domain.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/doxygen.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/doxygen.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,25 +20,33 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
-/**
- \file
- Just for the doxygen mainpage.
-*/
+// This file only contains the doxygen mainpage.
/*****************************************************************************/
/**
\mainpage The IgH EtherCAT master
- \section sec_docs Documentation
+ \section sec_general General information
- You will find the code documentation in the modules section.
+ This HTML contains the complete code documentation.
- There is an external API documentation for the realtime interface.
+ The API documentations are in the <a href="modules.html">modules
+ section</a>.
- For information how to build and install, see the README file.
+ For information how to build and install, see the INSTALL file in the source
+ root.
\section sec_contact Contact
@@ -58,7 +67,8 @@
The IgH EtherCAT Master is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License
- as published by the Free Software Foundation; version 2 of the License.
+ as published by the Free Software Foundation; either version 2 of the
+ License, or (at your option) any later version.
The IgH EtherCAT Master is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -68,6 +78,15 @@
You should have received a copy of the GNU General Public License
along with the IgH EtherCAT Master; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+ The right to use EtherCAT Technology is granted and comes free of
+ charge under condition of compatibility of product made by
+ Licensee. People intending to distribute/sell products based on the
+ code, have to sign an agreement to guarantee that products using
+ software based on IgH EtherCAT master stay compatible with the actual
+ EtherCAT specification (which are released themselves as an open
+ standard) as the (only) precondition to have the right to use EtherCAT
+ Technology, IP and trade marks.
\endverbatim
*/
--- a/master/ethernet.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/ethernet.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -28,6 +38,8 @@
/*****************************************************************************/
+#include <linux/etherdevice.h>
+
#include "../include/ecrt.h"
#include "globals.h"
#include "master.h"
@@ -35,26 +47,210 @@
#include "mailbox.h"
#include "ethernet.h"
+#define EOE_DEBUG_LEVEL 0
+
+/*****************************************************************************/
+
+void ec_eoe_flush(ec_eoe_t *);
+
+// state functions
+void ec_eoe_state_rx_start(ec_eoe_t *);
+void ec_eoe_state_rx_check(ec_eoe_t *);
+void ec_eoe_state_rx_fetch(ec_eoe_t *);
+void ec_eoe_state_tx_start(ec_eoe_t *);
+void ec_eoe_state_tx_sent(ec_eoe_t *);
+
+// net_device functions
+int ec_eoedev_open(struct net_device *);
+int ec_eoedev_stop(struct net_device *);
+int ec_eoedev_tx(struct sk_buff *, struct net_device *);
+struct net_device_stats *ec_eoedev_stats(struct net_device *);
+
/*****************************************************************************/
/**
EoE constructor.
-*/
-
-void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
-{
- eoe->slave = slave;
- eoe->rx_state = EC_EOE_IDLE;
+ Initializes the EoE handler, creates a net_device and registeres it.
+*/
+
+int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */)
+{
+ ec_eoe_t **priv;
+ int result, i;
+
+ eoe->slave = NULL;
+ eoe->state = ec_eoe_state_rx_start;
+ eoe->opened = 0;
+ eoe->rx_skb = NULL;
+ eoe->rx_expected_fragment = 0;
+ INIT_LIST_HEAD(&eoe->tx_queue);
+ eoe->tx_frame = NULL;
+ eoe->tx_queue_active = 0;
+ eoe->tx_queued_frames = 0;
+ eoe->tx_queue_lock = SPIN_LOCK_UNLOCKED;
+ eoe->tx_frame_number = 0xFF;
+ memset(&eoe->stats, 0, sizeof(struct net_device_stats));
+
+ if (!(eoe->dev =
+ alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {
+ EC_ERR("Unable to allocate net_device for EoE handler!\n");
+ goto out_return;
+ }
+
+ // initialize net_device
+ eoe->dev->open = ec_eoedev_open;
+ eoe->dev->stop = ec_eoedev_stop;
+ eoe->dev->hard_start_xmit = ec_eoedev_tx;
+ eoe->dev->get_stats = ec_eoedev_stats;
+
+ for (i = 0; i < ETH_ALEN; i++)
+ eoe->dev->dev_addr[i] = i | (i << 4);
+
+ // initialize private data
+ priv = netdev_priv(eoe->dev);
+ *priv = eoe;
+
+ // Usually setting the MTU appropriately makes the upper layers
+ // do the frame fragmenting. In some cases this doesn't work
+ // so the MTU is left on the Ethernet standard value and fragmenting
+ // is done "manually".
+#if 0
+ eoe->dev->mtu = slave->sii_rx_mailbox_size - ETH_HLEN - 10;
+#endif
+
+ // connect the net_device to the kernel
+ if ((result = register_netdev(eoe->dev))) {
+ EC_ERR("Unable to register net_device: error %i\n", result);
+ goto out_free;
+ }
+
+ // make the last address octet unique
+ eoe->dev->dev_addr[ETH_ALEN - 1] = (uint8_t) eoe->dev->ifindex;
+
+ return 0;
+
+ out_free:
+ free_netdev(eoe->dev);
+ eoe->dev = NULL;
+ out_return:
+ return -1;
}
/*****************************************************************************/
/**
EoE destructor.
-*/
-
-void ec_eoe_clear(ec_eoe_t *eoe)
-{
+ Unregisteres the net_device and frees allocated memory.
+*/
+
+void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */)
+{
+ if (eoe->dev) {
+ unregister_netdev(eoe->dev);
+ free_netdev(eoe->dev);
+ }
+
+ // empty transmit queue
+ ec_eoe_flush(eoe);
+
+ if (eoe->tx_frame) {
+ dev_kfree_skb(eoe->tx_frame->skb);
+ kfree(eoe->tx_frame);
+ }
+
+ if (eoe->rx_skb) dev_kfree_skb(eoe->rx_skb);
+}
+
+/*****************************************************************************/
+
+/**
+ Empties the transmit queue.
+*/
+
+void ec_eoe_flush(ec_eoe_t *eoe /**< EoE handler */)
+{
+ ec_eoe_frame_t *frame, *next;
+
+ spin_lock_bh(&eoe->tx_queue_lock);
+
+ list_for_each_entry_safe(frame, next, &eoe->tx_queue, queue) {
+ list_del(&frame->queue);
+ dev_kfree_skb(frame->skb);
+ kfree(frame);
+ }
+ eoe->tx_queued_frames = 0;
+
+ spin_unlock_bh(&eoe->tx_queue_lock);
+}
+
+/*****************************************************************************/
+
+/**
+ Sends a frame or the next fragment.
+*/
+
+int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)
+{
+ size_t remaining_size, current_size, complete_offset;
+ unsigned int last_fragment;
+ uint8_t *data;
+#if EOE_DEBUG_LEVEL > 1
+ unsigned int i;
+#endif
+
+ remaining_size = eoe->tx_frame->skb->len - eoe->tx_offset;
+
+ if (remaining_size <= eoe->slave->sii_tx_mailbox_size - 10) {
+ current_size = remaining_size;
+ last_fragment = 1;
+ }
+ else {
+ current_size = ((eoe->slave->sii_tx_mailbox_size - 10) / 32) * 32;
+ last_fragment = 0;
+ }
+
+ if (eoe->tx_fragment_number) {
+ complete_offset = eoe->tx_offset / 32;
+ }
+ else {
+ complete_offset = remaining_size / 32 + 1;
+ }
+
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("EoE TX sending %sfragment %i with %i octets (%i)."
+ " %i frames queued.\n", last_fragment ? "last " : "",
+ eoe->tx_fragment_number, current_size, complete_offset,
+ eoe->tx_queued_frames);
+#endif
+
+#if EOE_DEBUG_LEVEL > 1
+ EC_DBG("");
+ for (i = 0; i < current_size; i++) {
+ printk("%02X ", frame->skb->data[eoe->tx_offset + i]);
+ if ((i + 1) % 16 == 0) {
+ printk("\n");
+ EC_DBG("");
+ }
+ }
+ printk("\n");
+#endif
+
+ if (!(data = ec_slave_mbox_prepare_send(eoe->slave, 0x02,
+ current_size + 4)))
+ return -1;
+
+ EC_WRITE_U8 (data, 0x00); // eoe fragment req.
+ EC_WRITE_U8 (data + 1, last_fragment);
+ EC_WRITE_U16(data + 2, ((eoe->tx_fragment_number & 0x3F) |
+ (complete_offset & 0x3F) << 6 |
+ (eoe->tx_frame_number & 0x0F) << 12));
+
+ memcpy(data + 4, eoe->tx_frame->skb->data + eoe->tx_offset, current_size);
+ ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+
+ eoe->tx_offset += current_size;
+ eoe->tx_fragment_number++;
+ return 0;
}
/*****************************************************************************/
@@ -63,70 +259,137 @@
Runs the EoE state machine.
*/
-void ec_eoe_run(ec_eoe_t *eoe)
-{
- uint8_t *data;
- ec_master_t *master;
- size_t rec_size;
-#if 0
- unsigned int i;
- uint8_t fragment_number;
- uint8_t complete_size;
- uint8_t frame_number;
- uint8_t last_fragment;
-#endif
-
- master = eoe->slave->master;
-
- if (eoe->rx_state == EC_EOE_IDLE) {
- ec_slave_mbox_prepare_check(eoe->slave);
- ec_master_queue_command(master, &eoe->slave->mbox_command);
- eoe->rx_state = EC_EOE_CHECKING;
- return;
- }
-
- if (eoe->rx_state == EC_EOE_CHECKING) {
- if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
- master->stats.eoe_errors++;
- eoe->rx_state = EC_EOE_IDLE;
- return;
- }
- if (!ec_slave_mbox_check(eoe->slave)) {
- eoe->rx_state = EC_EOE_IDLE;
- return;
- }
- ec_slave_mbox_prepare_fetch(eoe->slave);
- ec_master_queue_command(master, &eoe->slave->mbox_command);
- eoe->rx_state = EC_EOE_FETCHING;
- return;
- }
-
- if (eoe->rx_state == EC_EOE_FETCHING) {
- if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
- master->stats.eoe_errors++;
- eoe->rx_state = EC_EOE_IDLE;
- return;
- }
- if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
- master->stats.eoe_errors++;
- eoe->rx_state = EC_EOE_IDLE;
- return;
- }
-
-#if 0
+void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
+{
+ if (!eoe->opened) return;
+
+ // call state function
+ eoe->state(eoe);
+}
+
+/*****************************************************************************/
+
+/**
+ Returns the state of the device.
+ \return 1 if the device is "up", 0 if it is "down"
+*/
+
+unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
+{
+ return eoe->slave && eoe->opened;
+}
+
+/*****************************************************************************/
+
+/**
+ Prints EoE handler information.
+*/
+
+void ec_eoe_print(const ec_eoe_t *eoe /**< EoE handler */)
+{
+ EC_INFO(" EoE handler %s\n", eoe->dev->name);
+ EC_INFO(" State: %s\n", eoe->opened ? "opened" : "closed");
+ if (eoe->slave)
+ EC_INFO(" Coupled to slave %i.\n", eoe->slave->ring_position);
+ else
+ EC_INFO(" Not coupled.\n");
+}
+
+/******************************************************************************
+ * STATE PROCESSING FUNCTIONS
+ *****************************************************************************/
+
+/**
+ State: RX_START.
+ Starts a new receiving sequence by queueing a command that checks the
+ slave's mailbox for a new EoE command.
+*/
+
+void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
+{
+ if (!eoe->slave->online || !eoe->slave->master->device->link_state)
+ return;
+
+ ec_slave_mbox_prepare_check(eoe->slave);
+ ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+ eoe->state = ec_eoe_state_rx_check;
+}
+
+/*****************************************************************************/
+
+/**
+ State: RX_CHECK.
+ Processes the checking command sent in RX_START and issues a receive
+ command, if new data is available.
+*/
+
+void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE handler */)
+{
+ if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ eoe->stats.rx_errors++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ if (!ec_slave_mbox_check(eoe->slave)) {
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ ec_slave_mbox_prepare_fetch(eoe->slave);
+ ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
+ eoe->state = ec_eoe_state_rx_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ State: RX_FETCH.
+ Checks if the requested data of RX_CHECK was received and processes the
+ EoE command.
+*/
+
+void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)
+{
+ size_t rec_size, data_size;
+ uint8_t *data, frame_type, last_fragment, time_appended;
+ uint8_t frame_number, fragment_offset, fragment_number;
+ off_t offset;
+
+ if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ eoe->stats.rx_errors++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
+ eoe->stats.rx_errors++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ frame_type = EC_READ_U16(data) & 0x000F;
+
+ if (frame_type == 0x00) { // EoE Fragment Request
+ last_fragment = (EC_READ_U16(data) >> 8) & 0x0001;
+ time_appended = (EC_READ_U16(data) >> 9) & 0x0001;
fragment_number = EC_READ_U16(data + 2) & 0x003F;
- complete_size = (EC_READ_U16(data + 2) >> 6) & 0x003F;
- frame_number = (EC_READ_U16(data + 2) >> 12) & 0x0003;
- last_fragment = (EC_READ_U16(data + 2) >> 15) & 0x0001;
-
- EC_DBG("EOE %s received, fragment: %i, complete size: %i (0x%02X),"
- " frame %i%s\n",
- fragment_number ? "fragment" : "initiate", fragment_number,
- (complete_size - 31) / 32, complete_size, frame_number,
- last_fragment ? ", last fragment" : "");
+ fragment_offset = (EC_READ_U16(data + 2) >> 6) & 0x003F;
+ frame_number = (EC_READ_U16(data + 2) >> 12) & 0x000F;
+
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("EoE RX fragment %i, offset %i, frame %i%s%s,"
+ " %i octets\n", fragment_number, fragment_offset,
+ frame_number,
+ last_fragment ? ", last fragment" : "",
+ time_appended ? ", + timestamp" : "",
+ time_appended ? rec_size - 8 : rec_size - 4);
+#endif
+
+#if EOE_DEBUG_LEVEL > 1
EC_DBG("");
- for (i = 0; i < rec_size - 2; i++) {
- printk("%02X ", data[i + 2]);
+ for (i = 0; i < rec_size - 4; i++) {
+ printk("%02X ", data[i + 4]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
@@ -135,21 +398,303 @@
printk("\n");
#endif
- eoe->rx_state = EC_EOE_IDLE;
- return;
- }
-}
-
-/*****************************************************************************/
-
-/**
- Prints EoE object information.
-*/
-
-void ec_eoe_print(const ec_eoe_t *eoe)
-{
- EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
- EC_INFO(" RX State %i\n", eoe->rx_state);
-}
-
-/*****************************************************************************/
+ data_size = time_appended ? rec_size - 8 : rec_size - 4;
+
+ if (!fragment_number) {
+ if (eoe->rx_skb) {
+ EC_WARN("EoE RX freeing old socket buffer...\n");
+ dev_kfree_skb(eoe->rx_skb);
+ }
+
+ // new socket buffer
+ if (!(eoe->rx_skb = dev_alloc_skb(fragment_offset * 32))) {
+ if (printk_ratelimit())
+ EC_WARN("EoE RX low on mem. frame dropped.\n");
+ eoe->stats.rx_dropped++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ eoe->rx_skb_offset = 0;
+ eoe->rx_skb_size = fragment_offset * 32;
+ eoe->rx_expected_fragment = 0;
+ }
+ else {
+ if (!eoe->rx_skb) {
+ eoe->stats.rx_dropped++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ offset = fragment_offset * 32;
+ if (offset != eoe->rx_skb_offset ||
+ offset + data_size > eoe->rx_skb_size ||
+ fragment_number != eoe->rx_expected_fragment) {
+ eoe->stats.rx_errors++;
+ eoe->state = ec_eoe_state_tx_start;
+ dev_kfree_skb(eoe->rx_skb);
+ eoe->rx_skb = NULL;
+ return;
+ }
+ }
+
+ // copy fragment into socket buffer
+ memcpy(skb_put(eoe->rx_skb, data_size), data + 4, data_size);
+ eoe->rx_skb_offset += data_size;
+
+ if (last_fragment) {
+ // update statistics
+ eoe->stats.rx_packets++;
+ eoe->stats.rx_bytes += eoe->rx_skb->len;
+
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("EoE RX frame completed with %u octets.\n",
+ eoe->rx_skb->len);
+#endif
+
+ // pass socket buffer to network stack
+ eoe->rx_skb->dev = eoe->dev;
+ eoe->rx_skb->protocol = eth_type_trans(eoe->rx_skb, eoe->dev);
+ eoe->rx_skb->ip_summed = CHECKSUM_UNNECESSARY;
+ if (netif_rx(eoe->rx_skb)) {
+ EC_WARN("EoE RX netif_rx failed.\n");
+ }
+ eoe->rx_skb = NULL;
+
+ eoe->state = ec_eoe_state_tx_start;
+ }
+ else {
+ eoe->rx_expected_fragment++;
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("EoE RX expecting fragment %i\n",
+ eoe->rx_expected_fragment);
+#endif
+ eoe->state = ec_eoe_state_rx_start;
+ }
+ }
+ else {
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("other frame received.\n");
+#endif
+ eoe->stats.rx_dropped++;
+ eoe->state = ec_eoe_state_tx_start;
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ State: TX START.
+ Starts a new transmit sequence. If no data is available, a new receive
+ sequence is started instead.
+*/
+
+void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */)
+{
+#if EOE_DEBUG_LEVEL > 0
+ unsigned int wakeup;
+#endif
+
+ if (!eoe->slave->online || !eoe->slave->master->device->link_state)
+ return;
+
+ spin_lock_bh(&eoe->tx_queue_lock);
+
+ if (!eoe->tx_queued_frames || list_empty(&eoe->tx_queue)) {
+ spin_unlock_bh(&eoe->tx_queue_lock);
+ // no data available.
+ // start a new receive immediately.
+ ec_eoe_state_rx_start(eoe);
+ return;
+ }
+
+ // take the first frame out of the queue
+ eoe->tx_frame = list_entry(eoe->tx_queue.next, ec_eoe_frame_t, queue);
+ list_del(&eoe->tx_frame->queue);
+ if (!eoe->tx_queue_active &&
+ eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE / 2) {
+ netif_wake_queue(eoe->dev);
+ eoe->tx_queue_active = 1;
+#if EOE_DEBUG_LEVEL > 0
+ wakeup = 1;
+#endif
+ }
+
+ eoe->tx_queued_frames--;
+ spin_unlock_bh(&eoe->tx_queue_lock);
+
+ eoe->tx_frame_number++;
+ eoe->tx_frame_number %= 16;
+ eoe->tx_fragment_number = 0;
+ eoe->tx_offset = 0;
+
+ if (ec_eoe_send(eoe)) {
+ dev_kfree_skb(eoe->tx_frame->skb);
+ kfree(eoe->tx_frame);
+ eoe->tx_frame = NULL;
+ eoe->stats.tx_errors++;
+ eoe->state = ec_eoe_state_rx_start;
+ return;
+ }
+
+#if EOE_DEBUG_LEVEL > 0
+ if (wakeup) EC_DBG("waking up TX queue...\n");
+#endif
+
+ eoe->state = ec_eoe_state_tx_sent;
+}
+
+/*****************************************************************************/
+
+/**
+ State: TX SENT.
+ Checks is the previous transmit command succeded and sends the next
+ fragment, if necessary.
+*/
+
+void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE handler */)
+{
+ if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ eoe->stats.tx_errors++;
+ eoe->state = ec_eoe_state_rx_start;
+ return;
+ }
+
+ if (eoe->slave->mbox_command.working_counter != 1) {
+ eoe->stats.tx_errors++;
+ eoe->state = ec_eoe_state_rx_start;
+ return;
+ }
+
+ // frame completely sent
+ if (eoe->tx_offset >= eoe->tx_frame->skb->len) {
+ eoe->stats.tx_packets++;
+ eoe->stats.tx_bytes += eoe->tx_frame->skb->len;
+ dev_kfree_skb(eoe->tx_frame->skb);
+ kfree(eoe->tx_frame);
+ eoe->tx_frame = NULL;
+ eoe->state = ec_eoe_state_rx_start;
+ }
+ else { // send next fragment
+ if (ec_eoe_send(eoe)) {
+ dev_kfree_skb(eoe->tx_frame->skb);
+ kfree(eoe->tx_frame);
+ eoe->tx_frame = NULL;
+ eoe->stats.tx_errors++;
+ eoe->state = ec_eoe_state_rx_start;
+ }
+ }
+}
+
+/******************************************************************************
+ * NET_DEVICE functions
+ *****************************************************************************/
+
+/**
+ Opens the virtual network device.
+*/
+
+int ec_eoedev_open(struct net_device *dev /**< EoE net_device */)
+{
+ ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
+ ec_eoe_flush(eoe);
+ eoe->opened = 1;
+ netif_start_queue(dev);
+ eoe->tx_queue_active = 1;
+ EC_INFO("%s opened.\n", dev->name);
+ if (!eoe->slave)
+ EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name);
+ else {
+ eoe->slave->requested_state = EC_SLAVE_STATE_OP;
+ eoe->slave->state_error = 0;
+ }
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Stops the virtual network device.
+*/
+
+int ec_eoedev_stop(struct net_device *dev /**< EoE net_device */)
+{
+ ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
+ netif_stop_queue(dev);
+ eoe->tx_queue_active = 0;
+ eoe->opened = 0;
+ ec_eoe_flush(eoe);
+ EC_INFO("%s stopped.\n", dev->name);
+ if (!eoe->slave)
+ EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name);
+ else {
+ eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
+ eoe->slave->state_error = 0;
+ }
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Transmits data via the virtual network device.
+*/
+
+int ec_eoedev_tx(struct sk_buff *skb, /**< transmit socket buffer */
+ struct net_device *dev /**< EoE net_device */
+ )
+{
+ ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
+ ec_eoe_frame_t *frame;
+
+#if 0
+ if (skb->len > eoe->slave->sii_tx_mailbox_size - 10) {
+ EC_WARN("EoE TX frame (%i octets) exceeds MTU. dropping.\n", skb->len);
+ dev_kfree_skb(skb);
+ eoe->stats.tx_dropped++;
+ return 0;
+ }
+#endif
+
+ if (!(frame =
+ (ec_eoe_frame_t *) kmalloc(sizeof(ec_eoe_frame_t), GFP_ATOMIC))) {
+ if (printk_ratelimit())
+ EC_WARN("EoE TX: low on mem. frame dropped.\n");
+ return 1;
+ }
+
+ frame->skb = skb;
+
+ spin_lock_bh(&eoe->tx_queue_lock);
+ list_add_tail(&frame->queue, &eoe->tx_queue);
+ eoe->tx_queued_frames++;
+ if (eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE) {
+ netif_stop_queue(dev);
+ eoe->tx_queue_active = 0;
+ }
+ spin_unlock_bh(&eoe->tx_queue_lock);
+
+#if EOE_DEBUG_LEVEL > 0
+ EC_DBG("EoE TX queued frame with %i octets (%i frames queued).\n",
+ skb->len, eoe->tx_queued_frames);
+ if (!eoe->tx_queue_active)
+ EC_WARN("EoE TX queue is now full.\n");
+#endif
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Gets statistics about the virtual network device.
+*/
+
+struct net_device_stats *ec_eoedev_stats(struct net_device *dev
+ /**< EoE net_device */)
+{
+ ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
+ return &eoe->stats;
+}
+
+/*****************************************************************************/
--- a/master/ethernet.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/ethernet.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -29,6 +39,7 @@
/*****************************************************************************/
#include <linux/list.h>
+#include <linux/netdevice.h>
#include "../include/ecrt.h"
#include "globals.h"
@@ -38,38 +49,54 @@
/*****************************************************************************/
/**
- State of an EoE object.
+ Queued frame structure.
*/
-typedef enum
+typedef struct
{
- EC_EOE_IDLE, /**< Idle. The next step ist to check for data. */
- EC_EOE_CHECKING, /**< Checking frame was sent. */
- EC_EOE_FETCHING /**< There is new data. Fetching frame was sent. */
+ struct list_head queue; /**< list item */
+ struct sk_buff *skb; /**< socket buffer */
}
-ec_eoe_state_t;
+ec_eoe_frame_t;
/*****************************************************************************/
+typedef struct ec_eoe ec_eoe_t;
+
/**
- Ethernet-over-EtherCAT (EoE) Object.
+ Ethernet-over-EtherCAT (EoE) handler.
The master creates one of these objects for each slave that supports the
EoE protocol.
*/
-typedef struct
+struct ec_eoe
{
struct list_head list; /**< list item */
ec_slave_t *slave; /**< pointer to the corresponding slave */
- ec_eoe_state_t rx_state; /**< state of the state machine */
-}
-ec_eoe_t;
+ void (*state)(ec_eoe_t *); /**< state function for the state machine */
+ struct net_device *dev; /**< net_device for virtual ethernet device */
+ struct net_device_stats stats; /**< device statistics */
+ unsigned int opened; /**< net_device is opened */
+ struct sk_buff *rx_skb; /**< current rx socket buffer */
+ off_t rx_skb_offset; /**< current write pointer in the socket buffer */
+ size_t rx_skb_size; /**< size of the allocated socket buffer memory */
+ uint8_t rx_expected_fragment; /**< next expected fragment number */
+ struct list_head tx_queue; /**< queue for frames to send */
+ unsigned int tx_queue_active; /**< kernel netif queue started */
+ unsigned int tx_queued_frames; /**< number of frames in the queue */
+ spinlock_t tx_queue_lock; /**< spinlock for the send queue */
+ ec_eoe_frame_t *tx_frame; /**< current TX frame */
+ uint8_t tx_frame_number; /**< number of the transmitted frame */
+ uint8_t tx_fragment_number; /**< number of the fragment */
+ size_t tx_offset; /**< number of octets sent */
+};
/*****************************************************************************/
-void ec_eoe_init(ec_eoe_t *, ec_slave_t *);
+int ec_eoe_init(ec_eoe_t *);
void ec_eoe_clear(ec_eoe_t *);
void ec_eoe_run(ec_eoe_t *);
+unsigned int ec_eoe_active(const ec_eoe_t *);
void ec_eoe_print(const ec_eoe_t *);
/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,1758 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "fsm.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+/**
+ Size of memory to allocate while reading categories.
+*/
+
+#define EC_CAT_MEM 0x100
+
+/*****************************************************************************/
+
+const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
+void ec_fsm_master_start(ec_fsm_t *);
+void ec_fsm_master_broadcast(ec_fsm_t *);
+void ec_fsm_master_proc_states(ec_fsm_t *);
+void ec_fsm_master_scan(ec_fsm_t *);
+void ec_fsm_master_states(ec_fsm_t *);
+void ec_fsm_master_validate_vendor(ec_fsm_t *);
+void ec_fsm_master_validate_product(ec_fsm_t *);
+void ec_fsm_master_reconfigure(ec_fsm_t *);
+void ec_fsm_master_address(ec_fsm_t *);
+void ec_fsm_master_conf(ec_fsm_t *);
+
+void ec_fsm_slave_start_reading(ec_fsm_t *);
+void ec_fsm_slave_read_status(ec_fsm_t *);
+void ec_fsm_slave_read_base(ec_fsm_t *);
+void ec_fsm_slave_read_dl(ec_fsm_t *);
+void ec_fsm_slave_prepare_sii(ec_fsm_t *);
+void ec_fsm_slave_read_sii(ec_fsm_t *);
+void ec_fsm_slave_category_header(ec_fsm_t *);
+void ec_fsm_slave_category_data(ec_fsm_t *);
+void ec_fsm_slave_end(ec_fsm_t *);
+
+void ec_fsm_slave_conf(ec_fsm_t *);
+void ec_fsm_slave_sync(ec_fsm_t *);
+void ec_fsm_slave_preop(ec_fsm_t *);
+void ec_fsm_slave_fmmu(ec_fsm_t *);
+void ec_fsm_slave_saveop(ec_fsm_t *);
+void ec_fsm_slave_op(ec_fsm_t *);
+void ec_fsm_slave_op2(ec_fsm_t *);
+
+void ec_fsm_sii_start_reading(ec_fsm_t *);
+void ec_fsm_sii_check(ec_fsm_t *);
+void ec_fsm_sii_fetch(ec_fsm_t *);
+void ec_fsm_sii_end(ec_fsm_t *);
+void ec_fsm_sii_error(ec_fsm_t *);
+
+void ec_fsm_change_start(ec_fsm_t *);
+void ec_fsm_change_check(ec_fsm_t *);
+void ec_fsm_change_status(ec_fsm_t *);
+void ec_fsm_change_code(ec_fsm_t *);
+void ec_fsm_change_ack(ec_fsm_t *);
+void ec_fsm_change_ack2(ec_fsm_t *);
+void ec_fsm_change_end(ec_fsm_t *);
+void ec_fsm_change_error(ec_fsm_t *);
+
+/*****************************************************************************/
+
+/**
+ Constructor.
+*/
+
+int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
+ ec_master_t *master /**< EtherCAT master */
+ )
+{
+ fsm->master = master;
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_slaves_responding = 0;
+ fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+ fsm->master_validation = 0;
+ fsm->slave_cat_data = NULL;
+
+ ec_command_init(&fsm->command);
+ if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {
+ EC_ERR("FSM failed to allocate FSM command.\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Destructor.
+*/
+
+void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
+{
+ if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
+ ec_command_clear(&fsm->command);
+}
+
+/*****************************************************************************/
+
+/**
+ Resets the state machine.
+*/
+
+void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_slaves_responding = 0;
+ fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+
+ if (fsm->slave_cat_data) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the current state of the state machine.
+*/
+
+void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->master_state(fsm);
+}
+
+/******************************************************************************
+ * master state machine
+ *****************************************************************************/
+
+/**
+ Master state: START.
+ Starts with getting slave count and slave states.
+*/
+
+void ec_fsm_master_start(ec_fsm_t *fsm)
+{
+ ec_command_brd(&fsm->command, 0x0130, 2);
+ ec_master_queue_command(fsm->master, &fsm->command);
+ fsm->master_state = ec_fsm_master_broadcast;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: BROADCAST.
+ Processes the broadcast read slave count and slaves states.
+*/
+
+void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ unsigned int topology_change, states_change, i;
+ ec_slave_t *slave;
+ ec_master_t *master = fsm->master;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ if (!master->device->link_state) {
+ fsm->master_slaves_responding = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ slave->online = 0;
+ }
+ }
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ topology_change = (command->working_counter !=
+ fsm->master_slaves_responding);
+ states_change = (EC_READ_U8(command->data) != fsm->master_slave_states);
+
+ fsm->master_slave_states = EC_READ_U8(command->data);
+ fsm->master_slaves_responding = command->working_counter;
+
+ if (topology_change) {
+ EC_INFO("%i slave%s responding.\n",
+ fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
+ if (fsm->master_slaves_responding == master->slave_count) {
+ fsm->master_validation = 1; // start validation later
+ }
+ else {
+ EC_WARN("Invalid slave count. Bus in tainted state.\n");
+ }
+ }
+ }
+
+ if (states_change) {
+ EC_INFO("Slave states: ");
+ ec_print_states(fsm->master_slave_states);
+ printk(".\n");
+ }
+
+ // topology change in free-run mode: clear all slaves and scan the bus
+ if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {
+ EC_INFO("Scanning bus.\n");
+
+ ec_master_eoe_stop(master);
+ ec_master_clear_slaves(master);
+
+ if (!fsm->master_slaves_responding) {
+ // no slaves present -> finish state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // init slaves
+ for (i = 0; i < fsm->master_slaves_responding; i++) {
+ if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
+ GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate slave %i!\n", i);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (ec_slave_init(slave, master, i, i + 1)) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (kobject_add(&slave->kobj)) {
+ EC_ERR("Failed to add kobject.\n");
+ kobject_put(&slave->kobj); // free
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ list_add_tail(&slave->list, &master->slaves);
+ }
+
+ // begin scanning of slaves
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start_reading;
+ fsm->master_state = ec_fsm_master_scan;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // fetch state from each slave
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master action: Get state of next slave.
+*/
+
+void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
+ /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+
+ // have all states been read?
+ if (slave->list.next == &master->slaves) {
+
+ // check, if a bus validation has to be done
+ if (fsm->master_validation) {
+ fsm->master_validation = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->online) continue;
+
+ // At least one slave is offline. validate!
+ EC_INFO("Validating bus.\n");
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_validate_vendor;
+ fsm->sii_offset = 0x0008; // vendor ID
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+ return;
+ }
+ }
+
+ fsm->master_state = ec_fsm_master_proc_states;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: STATES.
+ Fetches the AL- and online state of a slave.
+*/
+
+void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+ uint8_t new_state;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // did the slave not respond to its station address?
+ if (command->working_counter != 1) {
+ if (slave->online) {
+ slave->online = 0;
+ EC_INFO("Slave %i: offline.\n", slave->ring_position);
+ }
+ ec_fsm_master_action_next_slave_state(fsm);
+ return;
+ }
+
+ // slave responded
+ new_state = EC_READ_U8(command->data);
+ if (!slave->online) { // slave was offline before
+ slave->online = 1;
+ slave->state_error = 0;
+ slave->current_state = new_state;
+ EC_INFO("Slave %i: online (", slave->ring_position);
+ ec_print_states(new_state);
+ printk(").\n");
+ }
+ else if (new_state != slave->current_state) {
+ EC_INFO("Slave %i: ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" -> ");
+ ec_print_states(new_state);
+ printk(".\n");
+ slave->current_state = new_state;
+ }
+
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: PROC_STATES.
+ Processes the slave states.
+*/
+
+void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave;
+
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->state_error || !slave->online ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->master_state = ec_fsm_master_conf;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // nothing to configure. restart master state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_VENDOR.
+ Validates the vendor ID of a slave.
+*/
+
+void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ fsm->sii_state(fsm); // execute SII state machine
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate vendor ID of slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != slave->sii_vendor_id) {
+ EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // vendor ID is ok. check product code.
+ fsm->master_state = ec_fsm_master_validate_product;
+ fsm->sii_offset = 0x000A; // product code
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_PRODUCT.
+ Validates the product ID of a slave.
+*/
+
+void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ fsm->sii_state(fsm); // execute SII state machine
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate product code of slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != slave->sii_product_code) {
+ EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
+ EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
+ fsm->sii_result);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // have all states been validated?
+ if (slave->list.next == &fsm->master->slaves) {
+ fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
+ return;
+ }
+
+ // validate next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_validate_vendor;
+ fsm->sii_offset = 0x0008; // vendor ID
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: RECONFIGURE.
+ Looks for slave, that have lost their configuration and writes
+ their station address, so that they can be reconfigured later.
+*/
+
+void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ while (fsm->slave->online) {
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ }
+
+ EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->master_state = ec_fsm_master_address;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: ADDRESS.
+ Checks, if the new station address has been written to the slave.
+*/
+
+void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to write station address on slave %i.\n",
+ slave->ring_position);
+ }
+
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: SCAN.
+ Executes the sub-statemachine for the scanning of a slave.
+*/
+
+void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_ident_t *ident;
+
+ fsm->slave_state(fsm); // execute slave state machine
+
+ if (fsm->slave_state != ec_fsm_slave_end) return;
+
+ // have all slaves been fetched?
+ if (slave->list.next == &master->slaves) {
+ EC_INFO("Bus scanning completed.\n");
+
+ // identify all slaves and calculate coupler addressing
+
+ coupler_index = 0;
+ reverse_coupler_index = 0xFFFF;
+ current_coupler_index = 0x3FFF;
+ coupler_subindex = 0;
+
+ list_for_each_entry(slave, &master->slaves, list)
+ {
+ // search for identification in "database"
+ ident = slave_idents;
+ while (ident->type) {
+ if (ident->vendor_id == slave->sii_vendor_id
+ && ident->product_code == slave->sii_product_code) {
+ slave->type = ident->type;
+ break;
+ }
+ ident++;
+ }
+
+ if (!slave->type) {
+ EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"
+ " code 0x%08X) at position %i.\n",
+ slave->sii_vendor_id, slave->sii_product_code,
+ slave->ring_position);
+ }
+ else {
+ // if the slave is a bus coupler, change adressing base
+ if (slave->type->special == EC_TYPE_BUS_COUPLER) {
+ if (slave->sii_alias)
+ current_coupler_index = reverse_coupler_index--;
+ else
+ current_coupler_index = coupler_index++;
+ coupler_subindex = 0;
+ }
+ }
+
+ // determine initial state.
+ if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ }
+ else {
+ if (master->mode == EC_MASTER_MODE_RUNNING)
+ slave->requested_state = EC_SLAVE_STATE_PREOP;
+ else
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
+ slave->state_error = 0;
+
+ // calculate coupler-based slave address
+ slave->coupler_index = current_coupler_index;
+ slave->coupler_subindex = coupler_subindex;
+ coupler_subindex++;
+ }
+
+ if (master->mode == EC_MASTER_MODE_FREERUN) {
+ // start EoE processing
+ ec_master_eoe_start(master);
+ }
+
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start_reading;
+ fsm->slave_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: CONF.
+ Starts configuring a slave.
+*/
+
+void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->slave_state(fsm); // execute slave's state machine
+ if (fsm->slave_state != ec_fsm_slave_end) return;
+ fsm->master_state = ec_fsm_master_proc_states;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/******************************************************************************
+ * slave state machine
+ *****************************************************************************/
+
+/**
+ Slave state: START_READING.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_status;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_STATUS.
+*/
+
+void ec_fsm_slave_read_status(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to write station address of slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // read AL status
+ ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_BASE.
+*/
+
+void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read AL status of slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+ if (slave->current_state & EC_ACK) {
+ EC_WARN("Slave %i has status error bit set (0x%02X)!\n",
+ slave->ring_position, slave->current_state);
+ slave->current_state &= 0x0F;
+ }
+
+ // read base data
+ ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_dl;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_DL.
+*/
+
+void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read base data of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ slave->base_type = EC_READ_U8 (command->data);
+ slave->base_revision = EC_READ_U8 (command->data + 1);
+ slave->base_build = EC_READ_U16(command->data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
+ slave->base_sync_count = EC_READ_U8 (command->data + 5);
+
+ if (slave->base_fmmu_count > EC_MAX_FMMUS)
+ slave->base_fmmu_count = EC_MAX_FMMUS;
+
+ // read data link status
+ ec_command_nprd(command, slave->station_address, 0x0110, 2);
+ ec_master_queue_command(slave->master, command);
+ fsm->slave_state = ec_fsm_slave_prepare_sii;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: PREPARE_SII.
+*/
+
+void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t dl_status;
+ unsigned int i;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read DL status of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ dl_status = EC_READ_U16(command->data);
+
+ for (i = 0; i < 4; i++) {
+ slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ fsm->sii_offset = 0x0004;
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_sii_num = 0;
+ fsm->slave_state = ec_fsm_slave_read_sii;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_SII.
+*/
+
+void ec_fsm_slave_read_sii(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read SII data at 0x%04X on slave %i.\n",
+ fsm->sii_offset, slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ switch (fsm->slave_sii_num) {
+ case 0:
+ slave->sii_alias = fsm->sii_result & 0xFFFF;
+ fsm->sii_offset = 0x0008;
+ break;
+ case 1:
+ slave->sii_vendor_id = fsm->sii_result;
+ fsm->sii_offset = 0x000A;
+ break;
+ case 2:
+ slave->sii_product_code = fsm->sii_result;
+ fsm->sii_offset = 0x000C;
+ break;
+ case 3:
+ slave->sii_revision_number = fsm->sii_result;
+ fsm->sii_offset = 0x000E;
+ break;
+ case 4:
+ slave->sii_serial_number = fsm->sii_result;
+ fsm->sii_offset = 0x0018;
+ break;
+ case 5:
+ slave->sii_rx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_rx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001A;
+ break;
+ case 6:
+ slave->sii_tx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_tx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001C;
+ break;
+ case 7:
+ slave->sii_mailbox_protocols = fsm->sii_result & 0xFFFF;
+
+ fsm->slave_cat_offset = 0x0040;
+
+ if (fsm->slave_cat_data) {
+ EC_INFO("FSM freeing old category data on slave %i...\n",
+ fsm->slave->ring_position);
+ kfree(fsm->slave_cat_data);
+ }
+
+ if (!(fsm->slave_cat_data =
+ (uint8_t *) kmalloc(EC_CAT_MEM, GFP_ATOMIC))) {
+ EC_ERR("FSM Failed to allocate category data.\n");
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // start reading first category header
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ fsm->slave_sii_num++;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CATEGORY_HEADER.
+ Start reading categories.
+*/
+
+void ec_fsm_slave_category_header(ec_fsm_t *fsm /**< finite state machine */)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read category header at 0x%04X on slave %i.\n",
+ fsm->slave_cat_offset, fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ // last category?
+ if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ fsm->slave_cat_type = fsm->sii_result & 0x7FFF;
+ fsm->slave_cat_words = (fsm->sii_result >> 16) & 0xFFFF;
+
+ if (fsm->slave_cat_words > EC_CAT_MEM * 2) {
+ EC_ERR("FSM category memory too small! %i words needed.\n",
+ fsm->slave_cat_words);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // start reading category data
+ fsm->slave_cat_data_offset = 0;
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CATEGORY_DATA.
+ Reads category data.
+*/
+
+void ec_fsm_slave_category_data(ec_fsm_t *fsm /**< finite state machine */)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read category 0x%02X data at 0x%04X"
+ " on slave %i.\n", fsm->slave_cat_type, fsm->sii_offset,
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ fsm->sii_result & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 8) & 0xFF;
+
+ // read second word "on the fly"
+ if (fsm->slave_cat_data_offset + 1 < fsm->slave_cat_words) {
+ fsm->slave_cat_data_offset++;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ (fsm->sii_result >> 16) & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 24) & 0xFF;
+ }
+
+ fsm->slave_cat_data_offset++;
+
+ if (fsm->slave_cat_data_offset < fsm->slave_cat_words) {
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ // category data complete
+ switch (fsm->slave_cat_type)
+ {
+ case 0x000A:
+ if (ec_slave_fetch_strings(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x001E:
+ if (ec_slave_fetch_general(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x0028:
+ break;
+ case 0x0029:
+ if (ec_slave_fetch_sync(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words))
+ goto out_free;
+ break;
+ case 0x0032:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_TX_PDO))
+ goto out_free;
+ break;
+ case 0x0033:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_RX_PDO))
+ goto out_free;
+ break;
+ default:
+ EC_WARN("FSM: Unknown category type 0x%04X in slave %i.\n",
+ fsm->slave_cat_type, fsm->slave->ring_position);
+ }
+
+ // start reading next category header
+ fsm->slave_cat_offset += 2 + fsm->slave_cat_words;
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+
+ out_free:
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CONF.
+*/
+
+void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // check for slave registration
+ if (!slave->type) {
+ EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
+ }
+
+ // check and reset CRC fault counters
+ //ec_slave_check_crc(slave);
+
+ if (!slave->base_fmmu_count) { // no fmmus
+ fsm->slave_state = ec_fsm_slave_sync;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // reset FMMUs
+ ec_command_npwr(command, slave->station_address, 0x0600,
+ EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: SYNC.
+ Configure sync managers.
+*/
+
+void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ unsigned int j;
+ const ec_sync_t *sync;
+ ec_eeprom_sync_t *eeprom_sync, mbox_sync;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to reset FMMUs of slave %i.\n",
+ slave->ring_position);
+ slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (!slave->base_sync_count) { // no sync managers
+ fsm->slave_state = ec_fsm_slave_preop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure sync managers
+ ec_command_npwr(command, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->base_sync_count);
+ memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+ // known slave type, take type's SM information
+ if (slave->type) {
+ for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
+ sync = slave->type->sync_managers[j];
+ ec_sync_config(sync, command->data + EC_SYNC_SIZE * j);
+ }
+ }
+
+ // unknown type, but slave has mailbox
+ else if (slave->sii_mailbox_protocols)
+ {
+ // does it supply sync manager configurations in its EEPROM?
+ if (!list_empty(&slave->eeprom_syncs)) {
+ list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
+ if (eeprom_sync->index >= slave->base_sync_count) {
+ EC_ERR("Invalid sync manager configuration found!");
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+ ec_eeprom_sync_config(eeprom_sync,
+ command->data + EC_SYNC_SIZE
+ * eeprom_sync->index);
+ }
+ }
+
+ // no sync manager information; guess mailbox settings
+ else {
+ mbox_sync.physical_start_address =
+ slave->sii_rx_mailbox_offset;
+ mbox_sync.length = slave->sii_rx_mailbox_size;
+ mbox_sync.control_register = 0x26;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync, command->data);
+
+ mbox_sync.physical_start_address =
+ slave->sii_tx_mailbox_offset;
+ mbox_sync.length = slave->sii_tx_mailbox_size;
+ mbox_sync.control_register = 0x22;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync,
+ command->data + EC_SYNC_SIZE);
+ }
+
+ EC_INFO("Mailbox configured for unknown slave %i\n",
+ slave->ring_position);
+ }
+
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_preop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: PREOP.
+ Change slave state to PREOP.
+*/
+
+void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to set sync managers on slave %i.\n",
+ slave->ring_position);
+ slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ fsm->change_new = EC_SLAVE_STATE_PREOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->slave_state = ec_fsm_slave_fmmu;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: FMMU.
+ Configure FMMUs.
+*/
+
+void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+ unsigned int j;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in PREOP
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // stop activation here for slaves without type
+ if (!slave->type) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (!slave->base_fmmu_count) {
+ fsm->slave_state = ec_fsm_slave_saveop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure FMMUs
+ ec_command_npwr(command, slave->station_address,
+ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ for (j = 0; j < slave->fmmu_count; j++) {
+ ec_fmmu_config(&slave->fmmus[j], command->data + EC_FMMU_SIZE * j);
+ }
+
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_saveop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: SAVEOP.
+ Set slave state to SAVEOP.
+*/
+
+void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (fsm->slave->base_fmmu_count && (command->state != EC_CMD_RECEIVED ||
+ command->working_counter != 1)) {
+ EC_ERR("FSM failed to set FMMUs on slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to SAVEOP
+ fsm->slave_state = ec_fsm_slave_op;
+ fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: OP.
+ Set slave state to OP.
+*/
+
+void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in SAVEOP
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to OP
+ fsm->slave_state = ec_fsm_slave_op2;
+ fsm->change_new = EC_SLAVE_STATE_OP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: OP2
+ Executes the change state machine, until the OP state is set.
+*/
+
+void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in OP
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: END.
+ End state of the slave state machine.
+*/
+
+void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/******************************************************************************
+ * SII state machine
+ *****************************************************************************/
+
+/**
+ SII state: START_READING.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ // initiate read operation
+ if (fsm->sii_mode) {
+ ec_command_npwr(command, fsm->slave->station_address, 0x502, 4);
+ }
+ else {
+ ec_command_apwr(command, fsm->slave->ring_position, 0x502, 4);
+ }
+
+ EC_WRITE_U8 (command->data, 0x00); // read-only access
+ EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
+ EC_WRITE_U16(command->data + 2, fsm->sii_offset);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_check;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: CHECK.
+ Checks, if the SII-read-command has been sent and issues a fetch command.
+*/
+
+void ec_fsm_sii_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("SII: Reception of read command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ fsm->sii_start = get_cycles();
+
+ // issue check/fetch command
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: FETCH.
+ Fetches the result of an SII-read command.
+*/
+
+void ec_fsm_sii_fetch(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("SII: Reception of check/fetch command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ // check "busy bit"
+ if (EC_READ_U8(command->data + 1) & 0x81) {
+ // still busy... timeout?
+ if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
+ EC_ERR("SII: Timeout.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+#if 0
+ EC_DBG("SII busy: %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0),
+ EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2),
+ EC_READ_U8(command->data + 3));
+#endif
+ }
+
+ // issue check/fetch command again
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+ ec_master_queue_command(fsm->master, command);
+ return;
+ }
+
+#if 0
+ EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0), EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2), EC_READ_U8(command->data + 3),
+ EC_READ_U8(command->data + 6), EC_READ_U8(command->data + 7),
+ EC_READ_U8(command->data + 8), EC_READ_U8(command->data + 9));
+#endif
+
+ // SII value received.
+ fsm->sii_result = EC_READ_U32(command->data + 6);
+ fsm->sii_state = ec_fsm_sii_end;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: END.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: ERROR.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/******************************************************************************
+ * state change state machine
+ *****************************************************************************/
+
+/**
+ Change state: START.
+*/
+
+void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ // write new state to slave
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, fsm->change_new);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_check;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: CHECK.
+*/
+
+void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ EC_ERR("Failed to send state command to slave %i!\n",
+ fsm->slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if (command->working_counter != 1) {
+ EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
+ " respond.\n", fsm->change_new, fsm->slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ fsm->change_start = get_cycles();
+
+ // read AL status from slave
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_status;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: STATUS.
+*/
+
+void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to check state 0x%02X on slave %i.\n",
+ fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ // state has been set successfully
+ fsm->change_state = ec_fsm_change_end;
+ return;
+ }
+
+ if (slave->current_state & 0x10) {
+ // state change error
+ fsm->change_new = slave->current_state & 0x0F;
+ EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
+ " (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
+ slave->current_state);
+ // fetch AL status error code
+ ec_command_nprd(command, slave->station_address, 0x0134, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_code;
+ return;
+ }
+
+ if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
+ // timeout while checking
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
+ fsm->change_new, slave->ring_position);
+ return;
+ }
+
+ // still old state: check again
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: CODE.
+*/
+
+void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint32_t code;
+ const ec_code_msg_t *al_msg;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of AL status code command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if ((code = EC_READ_U16(command->data))) {
+ for (al_msg = al_status_messages; al_msg->code; al_msg++) {
+ if (al_msg->code != code) continue;
+ EC_ERR("AL status message 0x%04X: \"%s\".\n",
+ al_msg->code, al_msg->message);
+ break;
+ }
+ if (!al_msg->code)
+ EC_ERR("Unknown AL status code 0x%04X.\n", code);
+ }
+
+ // acknowledge "old" slave state
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, slave->current_state);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+*/
+
+void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ // read new AL status
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack2;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+ Acknowledge 2.
+*/
+
+void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack check command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
+ slave->current_state, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
+ " - Timeout!\n", fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: END.
+*/
+
+void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ERROR.
+*/
+
+void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Application layer status messages.
+*/
+
+const ec_code_msg_t al_status_messages[] = {
+ {0x0001, "Unspecified error"},
+ {0x0011, "Invalud requested state change"},
+ {0x0012, "Unknown requested state"},
+ {0x0013, "Bootstrap not supported"},
+ {0x0014, "No valid firmware"},
+ {0x0015, "Invalid mailbox configuration"},
+ {0x0016, "Invalid mailbox configuration"},
+ {0x0017, "Invalid sync manager configuration"},
+ {0x0018, "No valid inputs available"},
+ {0x0019, "No valid outputs"},
+ {0x001A, "Synchronisation error"},
+ {0x001B, "Sync manager watchdog"},
+ {0x0020, "Slave needs cold start"},
+ {0x0021, "Slave needs INIT"},
+ {0x0022, "Slave needs PREOP"},
+ {0x0023, "Slave needs SAVEOP"},
+ {}
+};
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.h Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,97 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_STATES__
+#define __EC_STATES__
+
+#include "../include/ecrt.h"
+#include "command.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm ec_fsm_t;
+
+/*****************************************************************************/
+
+/**
+ Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm
+{
+ ec_master_t *master; /**< master the FSM runs on */
+ ec_slave_t *slave; /**< slave the FSM runs on */
+ ec_command_t command; /**< command used in the state machine */
+
+ void (*master_state)(ec_fsm_t *); /**< master state function */
+ unsigned int master_slaves_responding; /**< number of responding slaves */
+ ec_slave_state_t master_slave_states; /**< states of responding slaves */
+ unsigned int master_validation; /**< non-zero, if validation to do */
+
+ void (*slave_state)(ec_fsm_t *); /**< slave state function */
+ uint8_t slave_sii_num; /**< SII value iteration counter */
+ uint8_t *slave_cat_data; /**< temporary memory for category data */
+ uint16_t slave_cat_offset; /**< current category word offset in EEPROM */
+ uint16_t slave_cat_data_offset; /**< current offset in category data */
+ uint16_t slave_cat_type; /**< type of current category */
+ uint16_t slave_cat_words; /**< number of words of current category */
+
+ void (*sii_state)(ec_fsm_t *); /**< SII state function */
+ uint16_t sii_offset; /**< input: offset in SII */
+ unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
+ uint32_t sii_result; /**< output: read SII value (32bit) */
+ cycles_t sii_start; /**< sii start */
+
+ void (*change_state)(ec_fsm_t *); /**< slave state change state function */
+ uint8_t change_new; /**< input: new state */
+ cycles_t change_start; /**< change start */
+};
+
+/*****************************************************************************/
+
+int ec_fsm_init(ec_fsm_t *, ec_master_t *);
+void ec_fsm_clear(ec_fsm_t *);
+void ec_fsm_reset(ec_fsm_t *);
+void ec_fsm_execute(ec_fsm_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/globals.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/globals.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -49,16 +59,16 @@
/** maximum number of FMMUs per slave */
#define EC_MAX_FMMUS 16
+/** size of the EoE tx queue */
+#define EC_EOE_TX_QUEUE_SIZE 100
+
+/** clock frequency for the EoE state machines */
+#define EC_EOE_FREQUENCY 1000
+
/******************************************************************************
* EtherCAT protocol
*****************************************************************************/
-/** maximum size of an EtherCAT frame (without header and CRC) */
-#define EC_MAX_FRAME_SIZE 1500
-
-/** minimum size of an EtherCAT frame (without header and CRC) */
-#define EC_MIN_FRAME_SIZE 46
-
/** size of an EtherCAT frame header */
#define EC_FRAME_HEADER_SIZE 2
@@ -75,25 +85,70 @@
#define EC_FMMU_SIZE 16
/** resulting maximum data size of a single command in a frame */
-#define EC_MAX_DATA_SIZE (EC_MAX_FRAME_SIZE - EC_FRAME_HEADER_SIZE \
+#define EC_MAX_DATA_SIZE (ETH_DATA_LEN - EC_FRAME_HEADER_SIZE \
- EC_COMMAND_HEADER_SIZE - EC_COMMAND_FOOTER_SIZE)
/*****************************************************************************/
+/**
+ Convenience macro for printing EtherCAT-specific information to syslog.
+ This will print the message in \a fmt with a prefixed "EtherCAT: ".
+ \param fmt format string (like in printf())
+ \param args arguments (optional)
+*/
+
#define EC_INFO(fmt, args...) \
printk(KERN_INFO "EtherCAT: " fmt, ##args)
+
+/**
+ Convenience macro for printing EtherCAT-specific errors to syslog.
+ This will print the message in \a fmt with a prefixed "EtherCAT ERROR: ".
+ \param fmt format string (like in printf())
+ \param args arguments (optional)
+*/
+
#define EC_ERR(fmt, args...) \
printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args)
+
+/**
+ Convenience macro for printing EtherCAT-specific warnings to syslog.
+ This will print the message in \a fmt with a prefixed "EtherCAT WARNING: ".
+ \param fmt format string (like in printf())
+ \param args arguments (optional)
+*/
+
#define EC_WARN(fmt, args...) \
printk(KERN_WARNING "EtherCAT WARNING: " fmt, ##args)
+
+/**
+ Convenience macro for printing EtherCAT debug messages to syslog.
+ This will print the message in \a fmt with a prefixed "EtherCAT DEBUG: ".
+ \param fmt format string (like in printf())
+ \param args arguments (optional)
+*/
+
#define EC_DBG(fmt, args...) \
printk(KERN_DEBUG "EtherCAT DEBUG: " fmt, ##args)
+/**
+ Helper macro for EC_STR(), literates a macro argument.
+ \param X argument to literate.
+*/
+
#define EC_LIT(X) #X
+
+/**
+ Converts a macro argument to a string.
+ \param X argument to stringify.
+*/
+
#define EC_STR(X) EC_LIT(X)
/**
- Convenience macro for defining SysFS attributes.
+ Convenience macro for defining read-only SysFS attributes.
+ This results in creating a static variable called attr_\a NAME. The SysFS
+ file will be world-readable.
+ \param NAME name of the attribute to create.
*/
#define EC_SYSFS_READ_ATTR(NAME) \
@@ -101,10 +156,23 @@
.name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO \
}
+/**
+ Convenience macro for defining read-write SysFS attributes.
+ This results in creating a static variable called attr_\a NAME. The SysFS
+ file will be word-readable plus owner-writable.
+ \param NAME name of the attribute to create.
+*/
+
+#define EC_SYSFS_READ_WRITE_ATTR(NAME) \
+ static struct attribute attr_##NAME = { \
+ .name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO | S_IWUSR \
+ }
+
/*****************************************************************************/
extern void ec_print_data(const uint8_t *, size_t);
extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
+extern void ec_print_states(uint8_t);
/*****************************************************************************/
--- a/master/mailbox.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/mailbox.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/mailbox.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/mailbox.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/master.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/master.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -45,9 +55,9 @@
/*****************************************************************************/
-void ec_master_freerun(unsigned long);
+void ec_master_freerun(void *);
+void ec_master_eoe_run(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
-void ec_master_process_watch_command(ec_master_t *);
/*****************************************************************************/
@@ -83,19 +93,51 @@
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
- unsigned int index /**< master index */
+ unsigned int index, /**< master index */
+ unsigned int eoe_devices /**< number of EoE devices */
)
{
+ ec_eoe_t *eoe, *next_eoe;
+ unsigned int i;
+
EC_INFO("Initializing master %i.\n", index);
master->index = index;
master->device = NULL;
master->reserved = 0;
-
INIT_LIST_HEAD(&master->slaves);
INIT_LIST_HEAD(&master->command_queue);
INIT_LIST_HEAD(&master->domains);
- INIT_LIST_HEAD(&master->eoe_slaves);
+ INIT_LIST_HEAD(&master->eoe_handlers);
+ ec_command_init(&master->simple_command);
+ INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
+ init_timer(&master->eoe_timer);
+ master->eoe_timer.function = ec_master_eoe_run;
+ master->eoe_timer.data = (unsigned long) master;
+ master->internal_lock = SPIN_LOCK_UNLOCKED;
+ master->eoe_running = 0;
+
+ // create workqueue
+ if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
+ EC_ERR("Failed to create master workqueue.\n");
+ goto out_return;
+ }
+
+ // create EoE handlers
+ for (i = 0; i < eoe_devices; i++) {
+ if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate EoE-Object.\n");
+ goto out_clear_eoe;
+ }
+ if (ec_eoe_init(eoe)) {
+ kfree(eoe);
+ goto out_clear_eoe;
+ }
+ list_add_tail(&eoe->list, &master->eoe_handlers);
+ }
+
+ // create state machine object
+ if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
// init kobject and add it to the hierarchy
memset(&master->kobj, 0x00, sizeof(struct kobject));
@@ -107,16 +149,18 @@
return -1;
}
- // init freerun timer
- init_timer(&master->freerun_timer);
- master->freerun_timer.function = ec_master_freerun;
- master->freerun_timer.data = (unsigned long) master;
-
- ec_command_init(&master->simple_command);
- ec_command_init(&master->watch_command);
-
ec_master_reset(master);
return 0;
+
+ out_clear_eoe:
+ list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+ list_del(&eoe->list);
+ ec_eoe_clear(eoe);
+ kfree(eoe);
+ }
+ destroy_workqueue(master->workqueue);
+ out_return:
+ return -1;
}
/*****************************************************************************/
@@ -130,21 +174,27 @@
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
+ ec_eoe_t *eoe, *next_eoe;
EC_INFO("Clearing master %i...\n", master->index);
- del_timer_sync(&master->freerun_timer);
-
ec_master_reset(master);
+ ec_fsm_clear(&master->fsm);
+ ec_command_clear(&master->simple_command);
+ destroy_workqueue(master->workqueue);
+
+ // clear EoE objects
+ list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+ list_del(&eoe->list);
+ ec_eoe_clear(eoe);
+ kfree(eoe);
+ }
if (master->device) {
ec_device_clear(master->device);
kfree(master->device);
}
- ec_command_clear(&master->simple_command);
- ec_command_clear(&master->watch_command);
-
EC_INFO("Master %i cleared.\n", master->index);
}
@@ -158,20 +208,12 @@
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
{
- ec_slave_t *slave, *next_s;
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
- ec_eoe_t *eoe, *next_eoe;
-
+
+ ec_master_eoe_stop(master);
ec_master_freerun_stop(master);
-
- // remove all slaves
- list_for_each_entry_safe(slave, next_s, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
- master->slave_count = 0;
+ ec_master_clear_slaves(master);
// empty command queue
list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
@@ -186,28 +228,41 @@
kobject_put(&domain->kobj);
}
- // clear EoE objects
- list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {
- list_del(&eoe->list);
- ec_eoe_clear(eoe);
- kfree(eoe);
- }
-
master->command_index = 0;
master->debug_level = 0;
master->timeout = 500; // 500us
- master->slaves_responding = 0;
- master->slave_states = EC_SLAVE_STATE_UNKNOWN;
-
master->stats.timeouts = 0;
master->stats.delayed = 0;
master->stats.corrupted = 0;
master->stats.unmatched = 0;
- master->stats.eoe_errors = 0;
master->stats.t_last = 0;
master->mode = EC_MASTER_MODE_IDLE;
+
+ master->request_cb = NULL;
+ master->release_cb = NULL;
+ master->cb_data = NULL;
+
+ ec_fsm_reset(&master->fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Clears all slaves.
+*/
+
+void ec_master_clear_slaves(ec_master_t *master)
+{
+ ec_slave_t *slave, *next_slave;
+
+ list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
+ list_del(&slave->list);
+ kobject_del(&slave->kobj);
+ kobject_put(&slave->kobj);
+ }
+ master->slave_count = 0;
}
/*****************************************************************************/
@@ -249,15 +304,14 @@
size_t command_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
- cycles_t start = 0, end;
+ cycles_t t_start, t_end;
unsigned int frame_count, more_commands_waiting;
frame_count = 0;
-
- if (unlikely(master->debug_level > 0)) {
+ t_start = get_cycles();
+
+ if (unlikely(master->debug_level > 0))
EC_DBG("ec_master_send_commands\n");
- start = get_cycles();
- }
do {
// fetch pointer to transmit socket buffer
@@ -273,12 +327,13 @@
// does the current command fit in the frame?
command_size = EC_COMMAND_HEADER_SIZE + command->data_size
+ EC_COMMAND_FOOTER_SIZE;
- if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {
+ if (cur_data - frame_data + command_size > ETH_DATA_LEN) {
more_commands_waiting = 1;
break;
}
command->state = EC_CMD_SENT;
+ command->t_sent = t_start;
command->index = master->command_index++;
if (unlikely(master->debug_level > 0))
@@ -317,7 +372,7 @@
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
// pad frame
- while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
+ while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 0))
@@ -330,9 +385,9 @@
while (more_commands_waiting);
if (unlikely(master->debug_level > 0)) {
- end = get_cycles();
+ t_end = get_cycles();
EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
- frame_count, (u32) (end - start) * 1000 / cpu_khz);
+ frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);
}
}
@@ -477,11 +532,10 @@
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
{
- ec_slave_t *slave, *next;
+ ec_slave_t *slave;
ec_slave_ident_t *ident;
+ ec_command_t *command;
unsigned int i;
- ec_command_t *command;
- ec_eoe_t *eoe;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
@@ -502,7 +556,8 @@
// init slaves
for (i = 0; i < master->slave_count; i++) {
- if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
+ if (!(slave =
+ (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate slave %i!\n", i);
goto out_free;
}
@@ -553,7 +608,7 @@
if (!slave->type) {
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
- slave->sii_product_code, i);
+ slave->sii_product_code, slave->ring_position);
}
else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
if (slave->sii_alias)
@@ -566,27 +621,12 @@
slave->coupler_index = current_coupler_index;
slave->coupler_subindex = coupler_subindex;
coupler_subindex++;
-
- // does the slave support EoE?
- if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
- if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate EoE-Object.\n");
- goto out_free;
- }
-
- ec_eoe_init(eoe, slave);
- list_add_tail(&eoe->list, &master->eoe_slaves);
- }
}
return 0;
out_free:
- list_for_each_entry_safe(slave, next, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
+ ec_master_clear_slaves(master);
return -1;
}
@@ -619,10 +659,6 @@
EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
- if (master->stats.eoe_errors) {
- EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors);
- master->stats.eoe_errors = 0;
- }
master->stats.t_last = t_now;
}
}
@@ -645,18 +681,8 @@
EC_INFO("Starting Free-Run mode.\n");
master->mode = EC_MASTER_MODE_FREERUN;
-
- if (master->watch_command.state == EC_CMD_INIT) {
- if (ec_command_brd(&master->watch_command, 0x130, 2)) {
- EC_ERR("Failed to allocate watchdog command!\n");
- return;
- }
- }
-
- ecrt_master_prepare_async_io(master);
-
- master->freerun_timer.expires = jiffies + 10;
- add_timer(&master->freerun_timer);
+ ec_fsm_reset(&master->fsm);
+ queue_delayed_work(master->workqueue, &master->freerun_work, 1);
}
/*****************************************************************************/
@@ -669,9 +695,15 @@
{
if (master->mode != EC_MASTER_MODE_FREERUN) return;
+ ec_master_eoe_stop(master);
+
EC_INFO("Stopping Free-Run mode.\n");
- del_timer_sync(&master->freerun_timer);
+ if (!cancel_delayed_work(&master->freerun_work)) {
+ flush_workqueue(master->workqueue);
+ }
+
+ ec_master_clear_slaves(master);
master->mode = EC_MASTER_MODE_IDLE;
}
@@ -681,22 +713,24 @@
Free-Run mode function.
*/
-void ec_master_freerun(unsigned long data /**< private timer data = master */)
+void ec_master_freerun(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
+ // aquire master lock
+ spin_lock_bh(&master->internal_lock);
+
ecrt_master_async_receive(master);
- // watchdog command
- ec_master_process_watch_command(master);
- ec_master_queue_command(master, &master->watch_command);
-
- master->slave_count = master->watch_command.working_counter;
+ // execute master state machine
+ ec_fsm_execute(&master->fsm);
ecrt_master_async_send(master);
- master->freerun_timer.expires += HZ;
- add_timer(&master->freerun_timer);
+ // release master lock
+ spin_unlock_bh(&master->internal_lock);
+
+ queue_delayed_work(master->workqueue, &master->freerun_work, 1);
}
/*****************************************************************************/
@@ -791,63 +825,139 @@
/*****************************************************************************/
/**
- Processes the watchdog command.
-*/
-
-void ec_master_process_watch_command(ec_master_t *master
- /**< EtherCAT master */
- )
-{
- unsigned int first;
-
- if (unlikely(master->watch_command.state == EC_CMD_INIT)) return;
-
- first = 1;
-
- if (master->watch_command.working_counter != master->slaves_responding ||
- master->watch_command.data[0] != master->slave_states)
- {
- master->slaves_responding = master->watch_command.working_counter;
- master->slave_states = master->watch_command.data[0];
-
- EC_INFO("%i slave%s responding (", master->slaves_responding,
- master->slaves_responding == 1 ? "" : "s");
-
- if (master->slave_states & EC_SLAVE_STATE_INIT) {
- printk("INIT");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_PREOP) {
- if (!first) printk(", ");
- printk("PREOP");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_SAVEOP) {
- if (!first) printk(", ");
- printk("SAVEOP");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_OP) {
- if (!first) printk(", ");
- printk("OP");
- }
- printk(")\n");
- }
-}
-
-/*****************************************************************************/
-
+ Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
+*/
+
+void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+ ec_slave_t *slave;
+ unsigned int coupled, found;
+
+ if (master->eoe_running) return;
+
+ // decouple all EoE handlers
+ list_for_each_entry(eoe, &master->eoe_handlers, list)
+ eoe->slave = NULL;
+ coupled = 0;
+
+ // couple a free EoE handler to every EoE-capable slave
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
+
+ found = 0;
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (eoe->slave) continue;
+ eoe->slave = slave;
+ found = 1;
+ coupled++;
+ EC_INFO("Coupling device %s to slave %i.\n",
+ eoe->dev->name, slave->ring_position);
+ if (eoe->opened) {
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ }
+ else {
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
+ slave->state_error = 0;
+ break;
+ }
+
+ if (!found) {
+ EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ slave->state_error = 0;
+ }
+ }
+
+ if (!coupled) {
+ EC_INFO("No EoE handlers coupled.\n");
+ return;
+ }
+
+ EC_INFO("Starting EoE processing.\n");
+ master->eoe_running = 1;
+
+ // start EoE processing
+ master->eoe_timer.expires = jiffies + 10;
+ add_timer(&master->eoe_timer);
+ return;
+}
+
+/*****************************************************************************/
+
+/**
+ Stops the Ethernet-over-EtherCAT processing.
+*/
+
+void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+
+ if (!master->eoe_running) return;
+
+ EC_INFO("Stopping EoE processing.\n");
+
+ del_timer_sync(&master->eoe_timer);
+
+ // decouple all EoE handlers
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (eoe->slave) {
+ eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
+ eoe->slave->state_error = 0;
+ eoe->slave = NULL;
+ }
+ }
+
+ master->eoe_running = 0;
+}
+
+/*****************************************************************************/
/**
Does the Ethernet-over-EtherCAT processing.
*/
-void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
-{
+void ec_master_eoe_run(unsigned long data /**< master pointer */)
+{
+ ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
-
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ unsigned int active = 0;
+
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (ec_eoe_active(eoe)) active++;
+ }
+ if (!active) goto queue_timer;
+
+ // aquire master lock...
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
+ // request_cb must return 0, if the lock has been aquired!
+ if (master->request_cb(master->cb_data))
+ goto queue_timer;
+ }
+ else if (master->mode == EC_MASTER_MODE_FREERUN) {
+ spin_lock(&master->internal_lock);
+ }
+ else
+ goto queue_timer;
+
+ // actual EoE stuff
+ ecrt_master_async_receive(master);
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
}
+ ecrt_master_async_send(master);
+
+ // release lock...
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
+ master->release_cb(master->cb_data);
+ }
+ else if (master->mode == EC_MASTER_MODE_FREERUN) {
+ spin_unlock(&master->internal_lock);
+ }
+
+ queue_timer:
+ master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
+ add_timer(&master->eoe_timer);
}
/******************************************************************************
@@ -920,13 +1030,6 @@
command = &master->simple_command;
- if (master->watch_command.state == EC_CMD_INIT) {
- if (ec_command_brd(&master->watch_command, 0x130, 2)) {
- EC_ERR("Failed to allocate watchdog command!\n");
- return -1;
- }
- }
-
// allocate all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
@@ -1080,9 +1183,6 @@
return -1;
}
- master->slaves_responding = 0;
- master->slave_states = EC_SLAVE_STATE_INIT;
-
return 0;
}
@@ -1223,26 +1323,32 @@
void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */)
{
ec_command_t *command, *next;
+ cycles_t t_received, t_timeout;
ec_device_call_isr(master->device);
+ t_received = get_cycles();
+ t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
+
// dequeue all received commands
list_for_each_entry_safe(command, next, &master->command_queue, queue)
if (command->state == EC_CMD_RECEIVED) list_del_init(&command->queue);
- // dequeue all remaining commands
+ // dequeue all commands that timed out
list_for_each_entry_safe(command, next, &master->command_queue, queue) {
switch (command->state) {
case EC_CMD_SENT:
case EC_CMD_QUEUED:
- command->state = EC_CMD_TIMEOUT;
- master->stats.timeouts++;
- ec_master_output_stats(master);
+ if (t_received - command->t_sent > t_timeout) {
+ list_del_init(&command->queue);
+ command->state = EC_CMD_TIMEOUT;
+ master->stats.timeouts++;
+ ec_master_output_stats(master);
+ }
break;
default:
break;
}
- list_del_init(&command->queue);
}
}
@@ -1288,12 +1394,8 @@
// output statistics
ec_master_output_stats(master);
- // watchdog command
- ec_master_process_watch_command(master);
- ec_master_queue_command(master, &master->watch_command);
-
- // Ethernet-over-EtherCAT
- ec_master_run_eoe(master);
+ // execute master state machine
+ ec_fsm_execute(&master->fsm);
}
/*****************************************************************************/
@@ -1407,6 +1509,45 @@
/*****************************************************************************/
/**
+ Sets the locking callbacks.
+ The request_cb function must return zero, to allow another instance
+ (the EoE process for example) to access the master. Non-zero means,
+ that access is forbidden at this time.
+ \ingroup RealtimeInterface
+*/
+
+void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
+ int (*request_cb)(void *), /**< request lock CB */
+ void (*release_cb)(void *), /**< release lock CB */
+ void *cb_data /**< data parameter */
+ )
+{
+ master->request_cb = request_cb;
+ master->release_cb = release_cb;
+ master->cb_data = cb_data;
+}
+
+/*****************************************************************************/
+
+/**
+ Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
+{
+ if (!master->request_cb || !master->release_cb) {
+ EC_ERR("EoE requires master callbacks to be set!\n");
+ return -1;
+ }
+
+ ec_master_eoe_start(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
Sets the debug level of the master.
The following levels are valid:
- 1: only output positions marks and basic data
@@ -1448,9 +1589,9 @@
list_for_each_entry(slave, &master->slaves, list)
ec_slave_print(slave, verbosity);
}
- if (!list_empty(&master->eoe_slaves)) {
+ if (!list_empty(&master->eoe_handlers)) {
EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_print(eoe);
}
}
@@ -1470,6 +1611,8 @@
EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_run);
+EXPORT_SYMBOL(ecrt_master_callbacks);
+EXPORT_SYMBOL(ecrt_master_start_eoe);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
EXPORT_SYMBOL(ecrt_master_get_slave);
--- a/master/master.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/master.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -37,6 +47,7 @@
#include "device.h"
#include "domain.h"
+#include "fsm.h"
/*****************************************************************************/
@@ -64,7 +75,6 @@
unsigned int delayed; /**< delayed commands */
unsigned int corrupted; /**< corrupted frames */
unsigned int unmatched; /**< unmatched commands */
- unsigned int eoe_errors; /**< Ethernet-over-EtherCAT errors */
cycles_t t_last; /**< time of last output */
}
ec_stats_t;
@@ -78,32 +88,46 @@
struct ec_master
{
- struct list_head list; /**< list item */
+ struct list_head list; /**< list item for module's master list */
+ unsigned int reserved; /**< non-zero, if the master is reserved for RT */
+ unsigned int index; /**< master index */
+
struct kobject kobj; /**< kobject */
- unsigned int index; /**< master index */
+
struct list_head slaves; /**< list of slaves on the bus */
unsigned int slave_count; /**< number of slaves on the bus */
+
ec_device_t *device; /**< EtherCAT device */
+
struct list_head command_queue; /**< command queue */
uint8_t command_index; /**< current command index */
+
struct list_head domains; /**< list of domains */
+
ec_command_t simple_command; /**< command structure for initialization */
- ec_command_t watch_command; /**< command for watching the slaves */
- unsigned int slaves_responding; /**< number of responding slaves */
- ec_slave_state_t slave_states; /**< states of the responding slaves */
+ unsigned int timeout; /**< timeout in synchronous IO */
+
int debug_level; /**< master debug level */
ec_stats_t stats; /**< cyclic statistics */
- unsigned int timeout; /**< timeout in synchronous IO */
- struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
- unsigned int reserved; /**< true, if the master is reserved for RT */
- struct timer_list freerun_timer; /**< timer object for free run mode */
+
+ struct workqueue_struct *workqueue; /**< master workqueue */
+ struct work_struct freerun_work; /**< free run work object */
+ ec_fsm_t fsm; /**< master state machine */
ec_master_mode_t mode; /**< master mode */
+
+ struct timer_list eoe_timer; /** EoE timer object */
+ unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
+ struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
+ spinlock_t internal_lock; /**< spinlock used in freerun mode */
+ int (*request_cb)(void *); /**< lock request callback */
+ void (*release_cb)(void *); /**< lock release callback */
+ void *cb_data; /**< data parameter of locking callbacks */
};
/*****************************************************************************/
// master creation and deletion
-int ec_master_init(ec_master_t *, unsigned int);
+int ec_master_init(ec_master_t *, unsigned int, unsigned int);
void ec_master_clear(struct kobject *);
void ec_master_reset(ec_master_t *);
@@ -111,6 +135,10 @@
void ec_master_freerun_start(ec_master_t *);
void ec_master_freerun_stop(ec_master_t *);
+// EoE
+void ec_master_eoe_start(ec_master_t *);
+void ec_master_eoe_stop(ec_master_t *);
+
// IO
void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_command(ec_master_t *, ec_command_t *);
@@ -120,8 +148,11 @@
int ec_master_bus_scan(ec_master_t *);
// misc.
+void ec_master_clear_slaves(ec_master_t *);
+void ec_sync_config(const ec_sync_t *, uint8_t *);
+void ec_eeprom_sync_config(const ec_eeprom_sync_t *, uint8_t *);
+void ec_fmmu_config(const ec_fmmu_t *, uint8_t *);
void ec_master_output_stats(ec_master_t *);
-void ec_master_run_eoe(ec_master_t *);
/*****************************************************************************/
--- a/master/module.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/module.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -57,19 +67,22 @@
/*****************************************************************************/
static int ec_master_count = 1;
+static int ec_eoe_devices = 0;
static struct list_head ec_masters;
/*****************************************************************************/
/** \cond */
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT master driver module");
+module_param(ec_master_count, int, S_IRUGO);
+module_param(ec_eoe_devices, int, S_IRUGO);
+
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(COMPILE_INFO);
-
-module_param(ec_master_count, int, 1);
MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");
+MODULE_PARM_DESC(ec_eoe_devices, "number of EoE devices per master");
/** \endcond */
@@ -104,7 +117,7 @@
goto out_free;
}
- if (ec_master_init(master, i)) // kobject_put is done inside...
+ if (ec_master_init(master, i, ec_eoe_devices))
goto out_free;
if (kobject_add(&master->kobj)) {
@@ -218,6 +231,41 @@
printk("\n");
}
+/*****************************************************************************/
+
+/**
+ Prints slave states in clear text.
+*/
+
+void ec_print_states(const uint8_t states /**< slave states */)
+{
+ unsigned int first = 1;
+
+ if (!states) {
+ printk("(unknown)");
+ return;
+ }
+
+ if (states & EC_SLAVE_STATE_INIT) {
+ printk("INIT");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_PREOP) {
+ if (!first) printk(", ");
+ printk("PREOP");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_SAVEOP) {
+ if (!first) printk(", ");
+ printk("SAVEOP");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_OP) {
+ if (!first) printk(", ");
+ printk("OP");
+ }
+}
+
/******************************************************************************
* Device interface
*****************************************************************************/
@@ -240,27 +288,18 @@
{
ec_master_t *master;
- if (!net_dev) {
- EC_WARN("Device is NULL!\n");
- goto out_return;
- }
-
if (!(master = ec_find_master(master_index))) return NULL;
- // critical section start
if (master->device) {
EC_ERR("Master %i already has a device!\n", master_index);
- // critical section leave
goto out_return;
}
if (!(master->device =
(ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate device!\n");
- // critical section leave
goto out_return;
}
- // critical section end
if (ec_device_init(master->device, master, net_dev, isr, module)) {
EC_ERR("Failed to init device!\n");
@@ -369,13 +408,11 @@
if (!(master = ec_find_master(master_index))) goto out_return;
- // begin critical section
if (master->reserved) {
EC_ERR("Master %i is already in use!\n", master_index);
goto out_return;
}
master->reserved = 1;
- // end critical section
if (!master->device) {
EC_ERR("Master %i has no assigned device!\n", master_index);
@@ -404,6 +441,7 @@
out_module_put:
module_put(master->device->module);
ec_master_reset(master);
+ ec_master_freerun_start(master);
out_release:
master->reserved = 0;
out_return:
--- a/master/slave.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/slave.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -38,13 +48,14 @@
/*****************************************************************************/
+extern const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
int ec_slave_fetch_categories(ec_slave_t *);
-int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
-int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
-int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
-int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
-int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
+ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
+ const char *, size_t);
/*****************************************************************************/
@@ -55,7 +66,9 @@
EC_SYSFS_READ_ATTR(vendor_name);
EC_SYSFS_READ_ATTR(product_name);
EC_SYSFS_READ_ATTR(product_desc);
+EC_SYSFS_READ_ATTR(sii_name);
EC_SYSFS_READ_ATTR(type);
+EC_SYSFS_READ_WRITE_ATTR(state);
static struct attribute *def_attrs[] = {
&attr_ring_position,
@@ -63,13 +76,15 @@
&attr_vendor_name,
&attr_product_name,
&attr_product_desc,
+ &attr_sii_name,
&attr_type,
+ &attr_state,
NULL,
};
static struct sysfs_ops sysfs_ops = {
- .show = &ec_show_slave_attribute,
- .store = NULL
+ .show = ec_show_slave_attribute,
+ .store = ec_store_slave_attribute
};
static struct kobj_type ktype_ec_slave = {
@@ -82,10 +97,6 @@
/*****************************************************************************/
-const ec_code_msg_t al_status_messages[];
-
-/*****************************************************************************/
-
/**
Slave constructor.
\return 0 in case of success, else < 0
@@ -134,9 +145,14 @@
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
+ slave->eeprom_group = NULL;
+ slave->eeprom_image = NULL;
+ slave->eeprom_order = NULL;
slave->eeprom_name = NULL;
- slave->eeprom_group = NULL;
- slave->eeprom_desc = NULL;
+ slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->state_error = 0;
+ slave->online = 1;
ec_command_init(&slave->mbox_command);
@@ -200,9 +216,10 @@
kfree(pdo);
}
+ if (slave->eeprom_group) kfree(slave->eeprom_group);
+ if (slave->eeprom_image) kfree(slave->eeprom_image);
+ if (slave->eeprom_order) kfree(slave->eeprom_order);
if (slave->eeprom_name) kfree(slave->eeprom_name);
- if (slave->eeprom_group) kfree(slave->eeprom_group);
- if (slave->eeprom_desc) kfree(slave->eeprom_desc);
// free all SDOs
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
@@ -492,6 +509,7 @@
/**
Fetches data from slave's EEPROM.
\return 0 in case of success, else < 0
+ \todo memory allocation
*/
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */)
@@ -632,9 +650,11 @@
if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
return -1;
- if (ec_slave_locate_string(slave, data[1], &slave->eeprom_name))
- return -1;
- if (ec_slave_locate_string(slave, data[3], &slave->eeprom_desc))
+ if (ec_slave_locate_string(slave, data[1], &slave->eeprom_image))
+ return -1;
+ if (ec_slave_locate_string(slave, data[2], &slave->eeprom_order))
+ return -1;
+ if (ec_slave_locate_string(slave, data[3], &slave->eeprom_name))
return -1;
for (i = 0; i < 4; i++)
@@ -824,6 +844,7 @@
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
if (unlikely(ec_master_simple_io(slave->master, command))) {
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_WARN("Acknowledge checking failed on slave %i!\n",
slave->ring_position);
return;
@@ -832,12 +853,14 @@
end = get_cycles();
if (likely(EC_READ_U8(command->data) == state)) {
+ slave->current_state = state;
EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
slave->ring_position);
return;
}
if (unlikely((end - start) >= timeout)) {
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
" - Timeout!\n", state, slave->ring_position);
return;
@@ -897,6 +920,8 @@
command = &slave->master->simple_command;
+ slave->requested_state = state;
+
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
if (unlikely(ec_master_simple_io(slave->master, command))) {
@@ -915,6 +940,7 @@
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_ERR("Failed to check state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
@@ -926,16 +952,20 @@
EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
" (code 0x%02X)!\n", state, slave->ring_position,
EC_READ_U8(command->data));
- state = EC_READ_U8(command->data) & 0x0F;
+ slave->current_state = EC_READ_U8(command->data);
+ state = slave->current_state & 0x0F;
ec_slave_read_al_status_code(slave);
ec_slave_state_ack(slave, state);
return -1;
}
- if (likely(EC_READ_U8(command->data) == (state & 0x0F)))
+ if (likely(EC_READ_U8(command->data) == (state & 0x0F))) {
+ slave->current_state = state;
return 0; // state change successful
+ }
if (unlikely((end - start) >= timeout)) {
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
state, slave->ring_position);
return -1;
@@ -1100,12 +1130,14 @@
EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
+ if (slave->eeprom_group)
+ EC_INFO(" Group: %s\n", slave->eeprom_group);
+ if (slave->eeprom_image)
+ EC_INFO(" Image: %s\n", slave->eeprom_image);
+ if (slave->eeprom_order)
+ EC_INFO(" Order#: %s\n", slave->eeprom_order);
if (slave->eeprom_name)
EC_INFO(" Name: %s\n", slave->eeprom_name);
- if (slave->eeprom_group)
- EC_INFO(" Group: %s\n", slave->eeprom_group);
- if (slave->eeprom_desc)
- EC_INFO(" Description: %s\n", slave->eeprom_desc);
if (!list_empty(&slave->eeprom_syncs)) {
EC_INFO(" Sync-Managers:\n");
@@ -1209,7 +1241,6 @@
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
- \ingroup RealTimeInterface
*/
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
@@ -1238,6 +1269,10 @@
if (slave->type)
return sprintf(buffer, "%s\n", slave->type->description);
}
+ else if (attr == &attr_sii_name) {
+ if (slave->eeprom_name)
+ return sprintf(buffer, "%s\n", slave->eeprom_name);
+ }
else if (attr == &attr_type) {
if (slave->type) {
if (slave->type->special == EC_TYPE_BUS_COUPLER)
@@ -1246,6 +1281,20 @@
return sprintf(buffer, "normal\n");
}
}
+ else if (attr == &attr_state) {
+ switch (slave->current_state) {
+ case EC_SLAVE_STATE_INIT:
+ return sprintf(buffer, "INIT\n");
+ case EC_SLAVE_STATE_PREOP:
+ return sprintf(buffer, "PREOP\n");
+ case EC_SLAVE_STATE_SAVEOP:
+ return sprintf(buffer, "SAVEOP\n");
+ case EC_SLAVE_STATE_OP:
+ return sprintf(buffer, "OP\n");
+ default:
+ return sprintf(buffer, "UNKNOWN\n");
+ }
+ }
return 0;
}
@@ -1253,28 +1302,45 @@
/*****************************************************************************/
/**
- Application layer status messages.
-*/
-
-const ec_code_msg_t al_status_messages[] = {
- {0x0001, "Unspecified error"},
- {0x0011, "Invalud requested state change"},
- {0x0012, "Unknown requested state"},
- {0x0013, "Bootstrap not supported"},
- {0x0014, "No valid firmware"},
- {0x0015, "Invalid mailbox configuration"},
- {0x0016, "Invalid mailbox configuration"},
- {0x0017, "Invalid sync manager configuration"},
- {0x0018, "No valid inputs available"},
- {0x0019, "No valid outputs"},
- {0x001A, "Synchronisation error"},
- {0x001B, "Sync manager watchdog"},
- {0x0020, "Slave needs cold start"},
- {0x0021, "Slave needs INIT"},
- {0x0022, "Slave needs PREOP"},
- {0x0023, "Slave needs SAVEOP"},
- {}
-};
+ Formats attribute data for SysFS write access.
+ \return number of bytes processed, or negative error code
+*/
+
+ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
+ struct attribute *attr, /**< attribute */
+ const char *buffer, /**< memory with data */
+ size_t size /**< size of data to store */
+ )
+{
+ ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
+
+ if (attr == &attr_state) {
+ if (!strcmp(buffer, "INIT\n")) {
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ slave->state_error = 0;
+ return size;
+ }
+ else if (!strcmp(buffer, "PREOP\n")) {
+ slave->requested_state = EC_SLAVE_STATE_PREOP;
+ slave->state_error = 0;
+ return size;
+ }
+ else if (!strcmp(buffer, "SAVEOP\n")) {
+ slave->requested_state = EC_SLAVE_STATE_SAVEOP;
+ slave->state_error = 0;
+ return size;
+ }
+ else if (!strcmp(buffer, "OP\n")) {
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ slave->state_error = 0;
+ return size;
+ }
+
+ EC_ERR("Failed to set slave state!\n");
+ }
+
+ return -EINVAL;
+}
/******************************************************************************
* Realtime interface
--- a/master/slave.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/slave.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
@@ -255,13 +265,19 @@
struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */
struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */
+ char *eeprom_group; /**< slave group acc. to EEPROM */
+ char *eeprom_image; /**< slave image name acc. to EEPROM */
+ char *eeprom_order; /**< slave order number acc. to EEPROM */
char *eeprom_name; /**< slave name acc. to EEPROM */
- char *eeprom_group; /**< slave group acc. to EEPROM */
- char *eeprom_desc; /**< slave description acc. to EEPROM */
struct list_head sdo_dictionary; /**< SDO directory list */
ec_command_t mbox_command; /**< mailbox command */
+
+ ec_slave_state_t requested_state; /**< requested slave state */
+ ec_slave_state_t current_state; /**< current slave state */
+ unsigned int state_error; /**< a state error has happened */
+ unsigned int online; /**< non-zero, if the slave responds. */
};
/*****************************************************************************/
@@ -282,6 +298,13 @@
// CoE
int ec_slave_fetch_sdo_list(ec_slave_t *);
+// state machine
+int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
+int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
+int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
+int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
+int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
+
// misc.
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);
--- a/master/types.c Mon Apr 24 10:47:03 2006 +0000
+++ b/master/types.c Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/master/types.h Mon Apr 24 10:47:03 2006 +0000
+++ b/master/types.h Mon May 29 09:08:56 2006 +0000
@@ -8,7 +8,8 @@
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,6 +20,15 @@
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
*****************************************************************************/
/**
--- a/mini/Makefile Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-#----------------------------------------------------------------
-#
-# Makefile
-#
-# Minimal EtherCAT module.
-#
-# $Id$
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#----------------------------------------------------------------
-
-ifneq ($(KERNELRELEASE),)
-
-#----------------------------------------------------------------
-# kbuild section
-#----------------------------------------------------------------
-
-obj-m := ec_mini.o
-
-ec_mini-objs := mini.o
-
-#----------------------------------------------------------------
-
-else
-
-#----------------------------------------------------------------
-# default section
-#----------------------------------------------------------------
-
-ifneq ($(wildcard ethercat.conf),)
-include ethercat.conf
-else
-KERNELDIR = /usr/src/linux
-endif
-
-modules:
- $(MAKE) -C $(KERNELDIR) M=`pwd`
-
-clean:
- $(MAKE) -C $(KERNELDIR) M=`pwd` clean
-
-#----------------------------------------------------------------
-
-endif
--- a/mini/ethercat.conf.tmpl Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,13 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# EtherCAT Konfigurationsdatei Kernel 2.6
-#
-# $Id$
-#
-# This file is a versioned template configuration. Copy it to "ethercat.conf"
-# (which is ignored by Subversion) and adjust it to your needs.
-#
-#------------------------------------------------------------------------------
-
-KERNELDIR = /usr/src/linux
-
--- a/mini/mini.c Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,219 +0,0 @@
-/******************************************************************************
- *
- * m i n i . c
- *
- * Minimal module for EtherCAT.
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- *****************************************************************************/
-
-#include <linux/module.h>
-#include <linux/delay.h>
-#include <linux/timer.h>
-
-#include "../include/ecrt.h" // EtherCAT realtime interface
-
-#define ASYNC
-#define FREQUENCY 100
-
-/*****************************************************************************/
-
-struct timer_list timer;
-
-// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
-
-// data fields
-//void *r_ssi_input, *r_ssi_status, *r_4102[3];
-
-// channels
-uint32_t k_pos;
-uint8_t k_stat;
-
-ec_field_init_t domain1_fields[] = {
- {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0},
- {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
- {}
-};
-
-/*****************************************************************************/
-
-void run(unsigned long data)
-{
- static unsigned int counter = 0;
-
-#ifdef ASYNC
- // receive
- ecrt_master_async_receive(master);
- ecrt_domain_process(domain1);
-#else
- // send and receive
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_sync_io(master);
- ecrt_domain_process(domain1);
-#endif
-
- // process data
- //k_pos = EC_READ_U32(r_ssi);
-
-#ifdef ASYNC
- // send
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_async_send(master);
-#endif
-
- if (counter) {
- counter--;
- }
- else {
- counter = FREQUENCY;
- //printk(KERN_INFO "k_pos = %i\n", k_pos);
- //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
- }
-
- // restart timer
- timer.expires += HZ / FREQUENCY;
- add_timer(&timer);
-}
-
-/*****************************************************************************/
-
-int __init init_mini_module(void)
-{
- printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
-
- if ((master = ecrt_request_master(0)) == NULL) {
- printk(KERN_ERR "Requesting master 0 failed!\n");
- goto out_return;
- }
-
- printk(KERN_INFO "Registering domain...\n");
- if (!(domain1 = ecrt_master_create_domain(master)))
- {
- printk(KERN_ERR "Domain creation failed!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Registering domain fields...\n");
- if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
- printk(KERN_ERR "Field registration failed!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Activating master...\n");
- if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Failed to activate master!\n");
- goto out_release_master;
- }
-
-#if 0
- if (ecrt_master_fetch_sdo_lists(master)) {
- printk(KERN_ERR "Failed to fetch SDO lists!\n");
- goto out_deactivate;
- }
- ecrt_master_print(master, 2);
-#else
- ecrt_master_print(master, 0);
-#endif
-
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "5"))) {
- printk(KERN_ERR "Failed to get slave 5!\n");
- goto out_deactivate;
- }
-
- if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
- ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
- ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
- ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
- printk(KERN_ERR "Failed to configure SSI slave!\n");
- goto out_deactivate;
- }
-#endif
-
-#if 0
- printk(KERN_INFO "Writing alias...\n");
- if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
-#ifdef ASYNC
- // send once and wait...
- ecrt_master_prepare_async_io(master);
-#endif
-
- printk("Starting cyclic sample thread.\n");
- init_timer(&timer);
- timer.function = run;
- timer.expires = jiffies + 10;
- add_timer(&timer);
-
- printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
- return 0;
-
-#if 0
- out_deactivate:
- ecrt_master_deactivate(master);
-#endif
- out_release_master:
- ecrt_release_master(master);
- out_return:
- return -1;
-}
-
-/*****************************************************************************/
-
-void __exit cleanup_mini_module(void)
-{
- printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
-
- if (master) {
- del_timer_sync(&timer);
- printk(KERN_INFO "Deactivating master...\n");
- ecrt_master_deactivate(master);
- ecrt_release_master(master);
- }
-
- printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
-}
-
-/*****************************************************************************/
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT minimal test environment");
-
-module_init(init_mini_module);
-module_exit(cleanup_mini_module);
-
-/*****************************************************************************/
-
--- a/rt/Makefile Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,87 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# Makefile
-#
-# $Id$
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-
-ifneq ($(KERNELRELEASE),)
-
-#------------------------------------------------------------------------------
-# kbuild section
-#------------------------------------------------------------------------------
-
-ifneq ($(wildcard $(src)/rt.conf),)
-include $(src)/rt.conf
-else
-MODULENAME := rt
-endif
-
-obj-m := $(MODULENAME).o
-
-$(MODULENAME)-objs := msr_rt.o \
- rt_lib/msr-core/msr_lists.o \
- rt_lib/msr-core/msr_main.o \
- rt_lib/msr-core/msr_charbuf.o \
- rt_lib/msr-core/msr_reg.o \
- rt_lib/msr-core/msr_interpreter.o \
- rt_lib/msr-core/msr_messages.o \
- rt_lib/msr-core/msr_proc.o \
- rt_lib/msr-core/msr_error_reg.o \
- rt_lib/msr-utils/msr_utils.o \
- rt_lib/msr-utils/msr_time.o \
- rt_lib/msr-math/msr_base64.o \
- rt_lib/msr-math/msr_hex_bin.o \
- libm.o
-
-EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -D_SIMULATION \
- -I/usr/include -mhard-float \
- -DSVNREV=$(shell svnversion $(src)) -DUSER=$(USER)
-
-#------------------------------------------------------------------------------
-
-else
-
-#------------------------------------------------------------------------------
-# default section
-#------------------------------------------------------------------------------
-
-ifneq ($(wildcard rt.conf),)
-include rt.conf
-else
-MODULENAME := msr_rt
-KERNEL := $(shell uname -r)
-endif
-
-KERNELDIR := /lib/modules/$(KERNEL)/build
-
-modules:
- $(MAKE) -C $(KERNELDIR) M=`pwd`
-
-clean:
- $(MAKE) -C $(KERNELDIR) M=`pwd` clean
-
-install:
- @./install.sh $(MODULENAME) $(KERNEL)
-
-#------------------------------------------------------------------------------
-
-endif
--- a/rt/install.sh Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,66 +0,0 @@
-#!/bin/sh
-
-#------------------------------------------------------------------------------
-#
-# Realtime module install script
-#
-# $Id: install.sh 5 2006-04-07 13:49:10Z fp $
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-
-# Fetch parameters
-
-if [ $# -ne 2 ]; then
- echo "Usage: $0 <MODULENAME> <KERNEL>"
- exit 1
-fi
-
-MODULENAME=$1
-KERNEL=$2
-
-MODULESDIR=/lib/modules/$KERNEL/kernel/drivers/rt
-
-echo "Realtime installer"
-echo " target: $MODULENAME"
-echo " kernel: $KERNEL"
-
-# Create target directory
-
-if [ ! -d $MODULESDIR ]; then
- echo " creating $MODULESDIR..."
- mkdir $MODULESDIR || exit 1
-fi
-
-# Install files
-
-echo " installing $MODULENAME..."
-if ! cp $MODULENAME.ko $MODULESDIR/$MODULENAME.ko; then exit 1; fi
-
-# Calculate dependencies
-
-echo " building module dependencies..."
-depmod
-
-# Finish
-
-echo "done."
-exit 0
-
-#------------------------------------------------------------------------------
--- a/rt/libm.o_shipped Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-/usr/lib/libm.a
\ No newline at end of file
--- a/rt/msr_load Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,36 +0,0 @@
-#!/bin/sh
-module="msr_rt"
-device="msr"
-mode="664"
-
-# Group: since distributions do it differently, look for wheel or use staff
-if grep '^staff:' /etc/group > /dev/null; then
- group="staff"
-else
- group="wheel"
-fi
-
-# invoke insmod with all arguments we got
-# and use a pathname, as newer modutils don't look in . by default
-/sbin/insmod -f ./$module.ko $* || exit 1
-
-major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
-
-echo $major
-# Remove stale nodes and replace them, then give gid and perms
-# Usually the script is shorter, it's scull that has several devices in it.
-
-rm -f /dev/${device}
-mknod /dev/${device} c $major 0
-# ln -sf ${device}0 /dev/${device}
-chgrp users /dev/${device}
-chmod $mode /dev/${device}
-
-
-
-
-
-
-
-
-
--- a/rt/msr_param.h Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- *****************************************************************************/
-
-#ifndef _MSR_PARAM_H_
-#define _MSR_PARAM_H_
-
-#define MSR_ABTASTFREQUENZ 1000
-
-#endif
-
-/*****************************************************************************/
--- a/rt/msr_rt.c Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,289 +0,0 @@
-/******************************************************************************
- *
- * m s r _ r t . c
- *
- * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- *****************************************************************************/
-
-// Linux
-#include <linux/module.h>
-#include <linux/ipipe.h>
-#include <linux/slab.h>
-#include <linux/vmalloc.h>
-#include <linux/delay.h>
-
-// RT_lib
-#include <msr_main.h>
-#include <msr_utils.h>
-#include <msr_messages.h>
-#include <msr_float.h>
-#include <msr_reg.h>
-#include <msr_time.h>
-#include "msr_param.h"
-
-// EtherCAT
-#include "../include/ecrt.h"
-
-#define ASYNC
-
-// Defines/Makros
-#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
-
-/*****************************************************************************/
-/* Globale Variablen */
-
-// Adeos
-static struct ipipe_domain this_domain;
-static struct ipipe_sysinfo sys_info;
-
-// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
-
-// Prozessdaten
-void *r_ssi;
-void *r_ssi_st;
-
-// KanŽäle
-uint32_t k_ssi;
-uint32_t k_ssi_st;
-
-ec_field_init_t domain1_fields[] = {
- {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
- {}
-};
-
-/*****************************************************************************/
-
-static void msr_controller_run(void)
-{
-#ifdef ASYNC
- // Empfangen
- ecrt_master_async_receive(master);
- ecrt_domain_process(domain1);
-#else
- // Senden und empfangen
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_sync_io(master);
- ecrt_domain_process(domain1);
-#endif
-
- // Prozessdaten verarbeiten
- k_ssi = EC_READ_U32(r_ssi);
- k_ssi_st = EC_READ_U8 (r_ssi_st);
-
-#ifdef ASYNC
- // Senden
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_async_send(master);
-#endif
-}
-
-/*****************************************************************************/
-
-int msr_globals_register(void)
-{
- msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
- msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
- return 0;
-}
-
-/*****************************************************************************/
-
-void msr_run(unsigned irq)
-{
- static int counter = 0;
-
- MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
-
- ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen
- if (++counter >= HZREDUCTION) {
- ipipe_propagate_irq(irq); // und weiterreichen
- counter = 0;
- }
-}
-
-/*****************************************************************************/
-
-void domain_entry(void)
-{
- printk("Domain %s started.\n", ipipe_current_domain->name);
-
- ipipe_get_sysinfo(&sys_info);
- ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
- &msr_run, NULL, IPIPE_HANDLE_MASK);
-
- ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
-}
-
-/*****************************************************************************/
-
-int __init init_rt_module(void)
-{
- struct ipipe_domain_attr attr; //ipipe
-#if 1
- ec_slave_t *slave;
-#endif
-
- // Als allererstes die RT-Lib initialisieren
- if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
- printk(KERN_ERR "Failed to initialize rtlib!\n");
- goto out_return;
- }
-
- if ((master = ecrt_request_master(0)) == NULL) {
- printk(KERN_ERR "Failed to request master 0!\n");
- goto out_msr_cleanup;
- }
-
- //ecrt_master_print(master, 2);
-
- printk(KERN_INFO "Creating domains...\n");
- if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "Failed to create domains!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Registering domain fields...\n");
- if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
- printk(KERN_ERR "Failed to register domain fields.\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Activating master...\n");
- if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Could not activate master!\n");
- goto out_release_master;
- }
-
-#if 0
- if (ecrt_master_fetch_sdo_lists(master)) {
- printk(KERN_ERR "Failed to fetch SDO lists!\n");
- goto out_deactivate;
- }
- ecrt_master_print(master, 2);
-#else
- ecrt_master_print(master, 0);
-#endif
-
-#if 1
- if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
-
- if (
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
- ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode
- ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
- ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
- ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
- ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
- ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
- ) {
- printk(KERN_ERR "Failed to configure SSI slave!\n");
- goto out_deactivate;
- }
-#endif
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
- if (ecrt_slave_write_alias(slave, 0x5678)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
-#ifdef ASYNC
- // Einmal senden und warten...
- ecrt_master_prepare_async_io(master);
-#endif
-
- ipipe_init_attr(&attr);
- attr.name = "IPIPE-MSR-MODULE";
- attr.priority = IPIPE_ROOT_PRIO + 1;
- attr.entry = &domain_entry;
- ipipe_register_domain(&this_domain, &attr);
- return 0;
-
-#if 1
- out_deactivate:
- ecrt_master_deactivate(master);
-#endif
- out_release_master:
- ecrt_release_master(master);
- out_msr_cleanup:
- msr_rtlib_cleanup();
- out_return:
- return -1;
-}
-
-/*****************************************************************************/
-
-void __exit cleanup_rt_module(void)
-{
- printk(KERN_INFO "Cleanign up rt module...\n");
-
- ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen
- ipipe_unregister_domain(&this_domain);
-
- printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
- ecrt_master_deactivate(master);
- ecrt_release_master(master);
- printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
-
- msr_rtlib_cleanup();
-}
-
-/*****************************************************************************/
-
-#define EC_LIT(X) #X
-#define EC_STR(X) EC_LIT(X)
-#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
- ", compiled by " EC_STR(USER) \
- " at " __DATE__ " " __TIME__
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT real-time test environment");
-MODULE_VERSION(COMPILE_INFO);
-
-module_init(init_rt_module);
-module_exit(cleanup_rt_module);
-
-/*****************************************************************************/
-
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/
--- a/rt/msr_unload Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,9 +0,0 @@
-#!/bin/sh
-module="msr_rt"
-device="msr"
-
-# invoke rmmod with all arguments we got
-/sbin/rmmod $module $* || exit 1
-
-# Remove stale nodes
-rm -f /dev/${device} /dev/${device}0
--- a/rt/msrserv.pl Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,257 +0,0 @@
-#!/usr/bin/perl -w
-
-#------------------------------------------------------------------------------
-#
-# Copyright (C) 2006 Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-#
-# Multithreaded Server
-# according to the example from "Programming Perl"
-# this code is improved according to the example from
-# perldoc perlipc, so now safely being usable under Perl 5.8
-# (see note (*))
-#
-# works with read/write on a device-file
-#
-#------------------------------------------------------------------------------
-
-require 5.002;
-use strict;
-BEGIN { $ENV{PATH} = '/opt/msr/bin:/usr/bin:/bin' }
-use Socket;
-use Carp;
-use FileHandle;
-use Getopt::Std;
-
-use Sys::Syslog qw(:DEFAULT setlogsock);
-
-use vars qw (
- $self $pid $dolog $port $dev %opts $selfbase
- $len $offset $stream $written $read $log $blksize
- $instdir
- $authfile %authhosts
- );
-
-
-# Do logging to local syslogd by unix-domain socket instead of inetd
-setlogsock("unix");
-
-# Prototypes and some little Tools
-sub spawn;
-sub logmsg {
- my ($level, $debug, @text) = @_;
- syslog("daemon|$level", @text) if $debug > $dolog;
-# print STDERR "daemon|$level", @text, "\n" if $dolog;
-}
-sub out {
- my $waitpid = wait;
- logmsg("notice", 2, "$waitpid exited");
- unlink "$selfbase.pid";
- exit 0;
-}
-
-sub help {
- print "\n usage: $0 [-l og] [-h elp] [-p port] [-d device]\n";
- exit;
-}
-
-# Process Options
-%opts = (
- "l" => 1,
- "h" => 0,
- "p" => 2345,
- "d" => "/dev/msr"
- );
-
-getopts("lhp:d:", \%opts);
-
-help if $opts{"h"};
-
-( $self = $0 ) =~ s+.*/++ ;
-( $selfbase = $self ) =~ s/\..*//;
-$log = "$selfbase.log";
-$dolog = $opts{"l"};
-$port = $opts{"p"};
-$dev = $opts{"d"};
-$blksize = 1024; # try to write as much bytes
-$instdir = "/opt/msr";
-$authfile = "$instdir/etc/hosts.auth";
-
-# Start logging
-openlog($self, 'pid');
-
-# Flush Output, dont buffer
-$| = 1;
-
-# first fork and run in background
-if ($pid = fork) {
-# open LOG, ">$log" if $dolog;
-# close LOG;
- logmsg("notice", 2, "forked process: $pid\n");
- exit 0;
-}
-
-# Server tells about startup success
-open (PID, ">/$instdir/var/run/$selfbase.pid");
-print PID "$$\n";
-close PID;
-
-# Cleanup on exit (due to kill -TERM signal)
-$SIG{TERM} = \&out;
-
-# We use streams
-my $proto = getprotobyname('tcp');
-
-# Open Server socket
-socket(Server, PF_INET, SOCK_STREAM, $proto) or die "socket: $!";
-setsockopt(Server, SOL_SOCKET, SO_REUSEADDR, pack("l", 1))
- or die "setsocketopt: $!";
-bind (Server, sockaddr_in($port, INADDR_ANY))
- or die "bind: $!";
-listen (Server, SOMAXCONN)
- or die "listen: $!";
-
-%authhosts = ();
-# get authorized hosts
-open (AUTH, $authfile)
- or logmsg ("notice", 2, "Could not read allowed hosts file: $authfile");
-while (<AUTH>) {
- chomp;
- my $host = lc $_;
- if ($host =~ /^[\d\w]/) {
- $authhosts{$_} = 1;
- logmsg ("notice", 2, "Authorized host: >$host<");
- }
-}
-close (AUTH);
-
-# tell about open server socket
-logmsg ("notice", 2, "Server started at port $port");
-
-my $waitedpid = 0;
-my $paddr;
-
-# wait for children to return, thus avoiding zombies
-# improvement (*)
-use POSIX ":sys_wait_h";
-sub REAPER {
- my $child;
- while (($waitedpid = waitpid(-1,WNOHANG)) > 0) {
- logmsg ("notice", 2, "reaped $waitedpid", ($? ? " with exit $?" : ""));
- }
- $SIG{CHLD} = \&REAPER; # loathe sysV
-}
-
-# also all sub-processes should wait for their children
-$SIG{CHLD} = \&REAPER;
-
-# start a new server for every incoming request
-# improvement (*) -- loop forever
-
-while ( 1 ) {
- for ( $waitedpid = 0;
- ($paddr = accept(Client,Server)) || $waitedpid;
- $waitedpid = 0, close Client ) {
- next if $waitedpid and not $paddr;
- my ($port, $iaddr) = sockaddr_in($paddr);
- my $name = lc gethostbyaddr($iaddr, AF_INET);
- my $ipaddr = inet_ntoa($iaddr);
- my $n = 0;
-
-# tell about the requesting client
- logmsg ("info", 2, "Connection from >$ipaddr< ($name) at port $port");
-
- spawn sub {
- my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen);
- my ($watchpegel, $shmpegel);
- my ($rin, $rout, $in, $line, $data_requested, $oversample);
- my (@channels);
-
-# to use stdio on writing to Client
- Client->autoflush();
-
-# Open Device
- sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev");
-
-# Bitmask to check for input on stdin
- $rin = "";
- vec($rin, fileno(Client), 1) = 1;
-
-# check for authorized hosts
- my $access = 'deny';
- $access = 'allow' if $authhosts{$ipaddr};
- $line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n";
- logmsg ("info", 2, $line);
- $len = length $line;
- $offset = 0;
- while ($len) {
- $written = syswrite (DEV, $line, $len, $offset);
- $len -= $written;
- $offset += $written;
- }
-
- while ( 1 ) {
- $in = select ($rout=$rin, undef, undef, 0.0); # poll client
-# look for any Input from Client
- if ($in) {
-# exit on EOF
- $len = sysread (Client, $line, $blksize) or exit;
- logmsg("info", 0, "got $len bytes: \"$line\"");
- $offset = 0;
-# copy request to device
- while ($len) {
- $written = syswrite (DEV, $line, $len, $offset);
- $len -= $written;
- $offset += $written;
- }
- }
-# look for some output from device
- if ($len = sysread DEV, $stream, $blksize) {
- print Client $stream;
- } else {
- select undef, undef, undef, 0.1; # calm down if nothing on device
- }
- }
- };
- logmsg("info", 2, "spawned\n");
- }
- logmsg("info", 2, "server loop\n");
-}
-
-sub spawn {
- my $coderef = shift;
-
- unless (@_ == 0 && $coderef && ref($coderef) eq 'CODE') {
- confess "usage: spawn CODEREF";
- }
- my $pid;
- if (!defined($pid = fork)) {
- logmsg ("notice", 2, "fork failed: $!");
- return;
- } elsif ($pid) {
- logmsg ("notice", 2, "Request $pid");
- return; # Parent
- }
-
-# do not use fdup as in the original example
-# open (STDIN, "<&Client") or die "Can't dup client to stdin";
-# open (STDOUT, ">&Client") or die "Can't dup client to stdout";
-# STDOUT->autoflush();
- exit &$coderef();
-}
--- a/rt/rt.conf.tmpl Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# Configuration file for msr realtime modules
-#
-# $Id$
-#
-# This file is a versioned template configuration. Copy it to "rt.conf"
-# (which is ignored by Subversion) and adjust it to your needs.
-#
-#------------------------------------------------------------------------------
-
-# Module name (without extension)
-MODULENAME := ec_rt_sample
-
-# The kernel to compile the EtherCAT sources against
-KERNEL := `uname -r`
-
-#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/ec_list.pl Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,192 @@
+#!/usr/bin/perl
+
+#------------------------------------------------------------------------------
+#
+# e c _ l i s t . p l
+#
+# Userspace tool for listing EtherCAT slaves.
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+use strict;
+use Getopt::Std;
+
+my $master_index;
+my $master_dir;
+my $show_sii_naming;
+
+#------------------------------------------------------------------------------
+
+&get_options;
+&query_master;
+exit 0;
+
+#------------------------------------------------------------------------------
+
+sub query_master
+{
+ $master_dir = "/sys/ethercat" . $master_index;
+ &query_slaves;
+}
+
+#------------------------------------------------------------------------------
+
+sub query_slaves
+{
+ my $dirhandle;
+ my $slave_dir;
+ my $entry;
+ my $slave_index;
+ my $file_name;
+ my $vendor_name;
+ my @slaves;
+ my $slave;
+ my $abs;
+
+ unless (opendir $dirhandle, $master_dir) {
+ print "Failed to open directory \"$master_dir\".\n";
+ exit 1;
+ }
+
+ while ($entry = readdir $dirhandle) {
+ next unless $entry =~ /^slave(\d+)$/;
+ $slave_dir = $master_dir . "/" . $entry;
+
+ $slave = {};
+ $slave->{'ring_position'} =
+ &read_integer("$slave_dir/ring_position");
+ $slave->{'coupler_address'} =
+ &read_string("$slave_dir/coupler_address");
+ unless ($show_sii_naming) {
+ $slave->{'vendor_name'} =
+ &read_string("$slave_dir/vendor_name");
+ $slave->{'product_name'} =
+ &read_string("$slave_dir/product_name");
+ $slave->{'product_desc'} =
+ &read_string("$slave_dir/product_desc");
+ }
+ else {
+ $slave->{'sii_name'} =
+ &read_string("$slave_dir/sii_name");
+ }
+ $slave->{'type'} =
+ &read_string("$slave_dir/type");
+
+ push @slaves, $slave;
+ }
+ closedir $dirhandle;
+
+ @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
+
+ print "EtherCAT bus listing for master $master_index:\n";
+ for $slave (@slaves) {
+ if ($slave->{'type'} eq "coupler") {
+ print "--------------------------------------------------------\n";
+ }
+
+ $abs = sprintf "%i", $slave->{'ring_position'};
+ printf(" %3s %8s ", $abs, $slave->{'coupler_address'});
+ unless ($show_sii_naming) {
+ printf("%-12s %-10s %s\n", $slave->{'vendor_name'},
+ $slave->{'product_name'}, $slave->{'product_desc'});
+ }
+ else {
+ printf("%s\n", $slave->{'sii_name'});
+ }
+ }
+}
+
+#------------------------------------------------------------------------------
+
+sub read_string
+{
+ (my $file_name) = @_;
+ my $data;
+
+ $data = `cat $file_name 2>/dev/null`;
+ if ($?) {
+ print "ERROR: Unable to read string $file_name!\n";
+ exit 1;
+ }
+
+ chomp $data;
+ return $data;
+}
+
+#------------------------------------------------------------------------------
+
+sub read_integer
+{
+ (my $file_name) = @_;
+
+ if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {
+ print "ERROR: Unable to read integer $file_name!\n";
+ exit 1;
+ }
+
+ return int $1;
+}
+
+#------------------------------------------------------------------------------
+
+sub get_options
+{
+ my %opt;
+ my $optret;
+
+ $optret = getopts "m:sh", \%opt;
+
+ &print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret;
+
+ if (defined $opt{'m'}) {
+ $master_index = $opt{'m'};
+ }
+ else {
+ $master_index = 0;
+ }
+
+ $show_sii_naming = defined $opt{'s'};
+}
+
+#------------------------------------------------------------------------------
+
+sub print_usage
+{
+ print "Usage: ec_list [OPTIONS]\n";
+ print " -m <IDX> Query master <IDX>.\n";
+ print " -s Show SII naming instead of";
+ print " vendor/product/description.\n";
+ print " -h Show this help.\n";
+ exit 0;
+}
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/ethercat.sh Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,146 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+# Init script for EtherCAT
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+### BEGIN INIT INFO
+# Provides: ethercat
+# Required-Start: $local_fs $syslog $network
+# Should-Start: $time
+# Required-Stop: $local_fs $syslog $network
+# Should-Stop: $time
+# Default-Start: 3 5
+# Default-Stop: 0 1 2 6
+# Short-Description: IgH EtherCAT master modules
+# Description:
+### END INIT INFO
+
+#------------------------------------------------------------------------------
+
+ETHERCAT_CONFIG=/etc/sysconfig/ethercat
+
+test -r $ETHERCAT_CONFIG || { echo "$ETHERCAT_CONFIG not existing";
+ if [ "$1" = "stop" ]; then exit 0;
+ else exit 6; fi; }
+
+. $ETHERCAT_CONFIG
+
+#------------------------------------------------------------------------------
+
+. /etc/rc.status
+rc_reset
+
+case "$1" in
+ start)
+ echo -n "Starting EtherCAT master "
+
+ if [ ! $DEVICE_INDEX ]; then
+ echo "ERROR: DEVICE_INDEX not set!"
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ if [ ! $EOE_DEVICES ]; then
+ EOE_DEVICES=0
+ fi
+
+ for mod in 8139too 8139cp; do
+ if lsmod | grep "^$mod " > /dev/null; then
+ if ! rmmod $mod; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+ fi
+ done
+
+ if ! modprobe ec_master ec_eoe_devices=$EOE_DEVICES; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ if ! modprobe ec_8139too ec_device_index=$DEVICE_INDEX; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ rc_status -v
+ ;;
+
+ stop)
+ echo -n "Shutting down EtherCAT master "
+
+ for mod in ec_8139too ec_master; do
+ if lsmod | grep "^$mod " > /dev/null; then
+ if ! rmmod $mod; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi;
+ fi;
+ done
+
+ if ! modprobe 8139too; then
+ echo "Warning: Failed to restore 8139too module."
+ fi
+
+ rc_status -v
+ ;;
+
+ restart)
+ $0 stop
+ $0 start
+
+ rc_status
+ ;;
+
+ status)
+ echo -n "Checking for EtherCAT "
+
+ lsmod | grep "^ec_master " > /dev/null
+ master_running=$?
+ lsmod | grep "^ec_8139too " > /dev/null
+ device_running=$?
+ test $master_running -eq 0 -a $device_running -eq 0
+
+ rc_status -v
+ ;;
+esac
+rc_exit
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/install.sh Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,114 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+# EtherCAT install script
+#
+# $Id$
+#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2 of the
+# License, or (at your option) any later version.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+# Fetch parameters
+
+if [ $# -ne 1 ]; then
+ echo "This script is called by \"make\". Run \"make install\" instead."
+ exit 1
+fi
+
+KERNEL=$1
+
+if [ ! -d /lib/modules/$KERNEL ]; then
+ echo "Kernel \"$KERNEL\" does not exist in /lib/modules!"
+ exit 1
+fi
+
+#------------------------------------------------------------------------------
+
+# Copy files
+
+INSTALLDIR=/lib/modules/$KERNEL/kernel/drivers/net
+MODULES=(master/ec_master.ko devices/ec_8139too.ko)
+
+echo "EtherCAT installer - Kernel: $KERNEL"
+echo " Installing modules"
+
+for mod in ${MODULES[*]}; do
+ echo " $mod"
+ cp $mod $INSTALLDIR || exit 1
+done
+
+#------------------------------------------------------------------------------
+
+# Update dependencies
+
+echo " Building module dependencies"
+depmod
+
+#------------------------------------------------------------------------------
+
+# Create configuration file
+
+CONFIGFILE=/etc/sysconfig/ethercat
+
+if [ -s $CONFIGFILE ]; then
+ echo " Note: Using existing configuration file."
+else
+ echo " Creating $CONFIGFILE"
+ cp script/sysconfig $CONFIGFILE || exit 1
+ echo " Note: Please edit DEVICE_INDEX in $CONFIGFILE!"
+fi
+
+#------------------------------------------------------------------------------
+
+# Install rc script
+
+echo " Installing startup script"
+cp script/ethercat.sh /etc/init.d/ethercat || exit 1
+chmod +x /etc/init.d/ethercat || exit 1
+if [ ! -L /usr/sbin/rcethercat ]; then
+ ln -s /etc/init.d/ethercat /usr/sbin/rcethercat || exit 1
+fi
+
+#------------------------------------------------------------------------------
+
+# Install tools
+
+echo " Installing tools"
+cp script/ec_list.pl /usr/local/bin/ec_list || exit 1
+chmod +x /usr/local/bin/ec_list || exit 1
+
+#------------------------------------------------------------------------------
+
+# Finish
+
+echo "Done"
+exit 0
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/script/sysconfig Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,21 @@
+#------------------------------------------------------------------------------
+#
+# EtherCAT sysconfig file
+#
+# $Id$
+#
+#------------------------------------------------------------------------------
+
+#
+# PCI index of the (RTL8139-)EtherCAT device
+# Setting this is mandatory for the EtherCAT init script!
+#
+#DEVICE_INDEX=99
+
+#
+# Number of Ethernet-over-EtherCAT devices every master shall create
+# on startup. Default is 0.
+#
+#EOE_DEVICES=0
+
+#------------------------------------------------------------------------------
--- a/tools/ec_list.pl Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,166 +0,0 @@
-#!/usr/bin/perl
-
-#------------------------------------------------------------------------------
-#
-# e c _ l i s t . p l
-#
-# Userspace tool for listing EtherCAT slaves.
-#
-# $Id: slave.c 340 2006-04-11 10:17:30Z fp $
-#
-# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
-#
-# This file is part of the IgH EtherCAT Master.
-#
-# The IgH EtherCAT Master is free software; you can redistribute it
-# and/or modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 2 of the License.
-#
-# The IgH EtherCAT Master is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with the IgH EtherCAT Master; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-#
-#------------------------------------------------------------------------------
-
-use strict;
-use Getopt::Std;
-
-my $master_index;
-my $master_dir;
-
-#------------------------------------------------------------------------------
-
-&get_options;
-&query_master;
-exit 0;
-
-#------------------------------------------------------------------------------
-
-sub query_master
-{
- $master_dir = "/sys/ethercat" . $master_index;
- &query_slaves;
-}
-
-#------------------------------------------------------------------------------
-
-sub query_slaves
-{
- my $dirhandle;
- my $slave_dir;
- my $entry;
- my $slave_index;
- my $file_name;
- my $vendor_name;
- my @slaves;
- my $slave;
- my $abs;
-
- unless (opendir $dirhandle, $master_dir) {
- print "Failed to open directory \"$master_dir\".\n";
- exit 1;
- }
-
- while ($entry = readdir $dirhandle) {
- next unless $entry =~ /^slave(\d+)$/;
- $slave_dir = $master_dir . "/" . $entry;
-
- $slave = {};
- $slave->{'ring_position'} =
- &read_integer("$slave_dir/ring_position");
- $slave->{'coupler_address'} =
- &read_string("$slave_dir/coupler_address");
- $slave->{'vendor_name'} =
- &read_string("$slave_dir/vendor_name");
- $slave->{'product_name'} =
- &read_string("$slave_dir/product_name");
- $slave->{'product_desc'} =
- &read_string("$slave_dir/product_desc");
- $slave->{'type'} =
- &read_string("$slave_dir/type");
-
- push @slaves, $slave;
- }
- closedir $dirhandle;
-
- @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
-
- print "EtherCAT bus listing for master $master_index:\n";
- for $slave (@slaves) {
- if ($slave->{'type'} eq "coupler") {
- print "--------------------------------------------------------\n";
- }
-
- $abs = sprintf "%i", $slave->{'ring_position'};
- printf(" %3s %8s %-12s %-10s %s\n", $abs,
- $slave->{'coupler_address'}, $slave->{'vendor_name'},
- $slave->{'product_name'}, $slave->{'product_desc'});
- }
-}
-
-#------------------------------------------------------------------------------
-
-sub read_string
-{
- (my $file_name) = @_;
- my $data;
-
- $data = `cat $file_name 2>/dev/null`;
- if ($?) {
- print "ERROR: Unable to read string $file_name!\n";
- exit 1;
- }
-
- chomp $data;
- return $data;
-}
-
-#------------------------------------------------------------------------------
-
-sub read_integer
-{
- (my $file_name) = @_;
-
- if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {
- print "ERROR: Unable to read integer $file_name!\n";
- exit 1;
- }
-
- return int $1;
-}
-
-#------------------------------------------------------------------------------
-
-sub get_options
-{
- my %opt;
- my $optret;
-
- $optret = getopts "m:h", \%opt;
-
- &print_usage if defined $opt{'h'} or $#ARGV > -1;
-
- if (defined $opt{'m'}) {
- $master_index = $opt{'m'};
- }
- else {
- $master_index = 0;
- }
-}
-
-#------------------------------------------------------------------------------
-
-sub print_usage
-{
- print "Usage: ec_list [OPTIONS]\n";
- print " -m <IDX> Query master IDX.\n";
- print " -h Show this help.\n";
- exit 0;
-}
-
-#------------------------------------------------------------------------------