--- a/TODO Fri Aug 21 09:45:53 2009 +0200
+++ b/TODO Fri Aug 21 09:46:29 2009 +0200
@@ -50,6 +50,10 @@
* Check for Enable SDO Complete Access flag.
* Implement CompleteAccess for command-line tool.
* Implement CompleteAccess for SDO uploads.
+* Implement identifier parameter for cstruct command.
+* Implement sync delimiter for cstruct command.
+* Change SDO index at runtime for SDO request.
+* Implement ecrt_slave_config_request_state().
Future issues:
--- a/include/ecrt.h Fri Aug 21 09:45:53 2009 +0200
+++ b/include/ecrt.h Fri Aug 21 09:46:29 2009 +0200
@@ -55,6 +55,7 @@
* ecrt_slave_config_sync_manager()).
* - Added ecrt_slave_config_complete_sdo() method to download an SDO during
* configuration via CompleteAccess.
+ * - Added ecrt_master_deactivate() to remove the bus configuration.
* - Added ecrt_open_master() and ecrt_master_reserve() separation for
* userspace.
* - Added bus information interface (methods ecrt_master(),
@@ -682,6 +683,18 @@
ec_master_t *master /**< EtherCAT master. */
);
+/** Deactivates the master.
+ *
+ * Removes the bus configuration. All objects created by
+ * ecrt_master_create_domain(), ecrt_master_slave_config(), ecrt_domain_data()
+ * ecrt_slave_config_create_sdo_request() and
+ * ecrt_slave_config_create_voe_handler() are freed, so pointers to them
+ * become invalid.
+ */
+void ecrt_master_deactivate(
+ ec_master_t *master /**< EtherCAT master. */
+ );
+
/** Sends all datagrams in the queue.
*
* This method takes all datagrams, that have been queued for transmission,
--- a/lib/master.c Fri Aug 21 09:45:53 2009 +0200
+++ b/lib/master.c Fri Aug 21 09:46:29 2009 +0200
@@ -335,6 +335,16 @@
/*****************************************************************************/
+void ecrt_master_deactivate(ec_master_t *master)
+{
+ if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
+ fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
+ return;
+ }
+}
+
+/*****************************************************************************/
+
void ecrt_master_send(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
--- a/master/cdev.c Fri Aug 21 09:45:53 2009 +0200
+++ b/master/cdev.c Fri Aug 21 09:46:29 2009 +0200
@@ -175,6 +175,7 @@
data.eoe_handler_count = ec_master_eoe_handler_count(master);
#endif
data.phase = (uint8_t) master->phase;
+ data.active = (uint8_t) master->active;
data.scan_busy = master->scan_busy;
up(&master->master_sem);
@@ -1647,6 +1648,23 @@
/*****************************************************************************/
+/** Deactivates the master.
+ */
+int ec_cdev_ioctl_deactivate(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ ecrt_master_deactivate(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Send frames.
*/
int ec_cdev_ioctl_send(
@@ -3262,6 +3280,10 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_activate(master, arg, priv);
+ case EC_IOCTL_DEACTIVATE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_deactivate(master, arg, priv);
case EC_IOCTL_SEND:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
--- a/master/ioctl.h Fri Aug 21 09:45:53 2009 +0200
+++ b/master/ioctl.h Fri Aug 21 09:46:29 2009 +0200
@@ -86,40 +86,41 @@
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t)
-#define EC_IOCTL_SEND EC_IO(0x1d)
-#define EC_IOCTL_RECEIVE EC_IO(0x1e)
-#define EC_IOCTL_MASTER_STATE EC_IOR(0x1f, ec_master_state_t)
-#define EC_IOCTL_APP_TIME EC_IOW(0x20, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF EC_IO(0x21)
-#define EC_IOCTL_SYNC_SLAVES EC_IO(0x22)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x23, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x24, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x25, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x26, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x27, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x28, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x2a, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x2b, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x2d, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x2e, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2f)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x20)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x31)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x32, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x33, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x35, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x36, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x37, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x38, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x39, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x3a, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3b, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3c, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3d, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x3e, ec_ioctl_voe_t)
+#define EC_IOCTL_DEACTIVATE EC_IO(0x1d)
+#define EC_IOCTL_SEND EC_IO(0x1e)
+#define EC_IOCTL_RECEIVE EC_IO(0x1f)
+#define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t)
+#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF EC_IO(0x22)
+#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x24, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x25, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x26, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x27, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x28, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x29, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2a, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x2b, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x2c, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x2e, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x2f, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x20)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x31)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x32)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x33, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x34, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x36, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x37, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x38, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x39, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3a, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x3b, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3e, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x3f, ec_ioctl_voe_t)
/*****************************************************************************/
@@ -135,6 +136,7 @@
uint32_t eoe_handler_count;
#endif
uint8_t phase;
+ uint8_t active;
uint8_t scan_busy;
struct {
uint8_t address[6];
--- a/master/master.c Fri Aug 21 09:45:53 2009 +0200
+++ b/master/master.c Fri Aug 21 09:46:29 2009 +0200
@@ -121,6 +121,7 @@
init_MUTEX(&master->device_sem);
master->phase = EC_ORPHANED;
+ master->active = 0;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
@@ -592,67 +593,17 @@
/** Transition function from OPERATION to IDLE phase.
*/
-void ec_master_leave_operation_phase(ec_master_t *master
- /**< EtherCAT master */)
-{
- ec_slave_t *slave;
-#ifdef EC_EOE
- ec_eoe_t *eoe;
-#endif
+void ec_master_leave_operation_phase(
+ ec_master_t *master /**< EtherCAT master */
+ )
+{
+ if (master->active)
+ ecrt_master_deactivate(master);
if (master->debug_level)
EC_DBG("OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
-
-#ifdef EC_EOE
- ec_master_eoe_stop(master);
-#endif
- ec_master_thread_stop(master);
-
- master->send_cb = ec_master_internal_send_cb;
- master->receive_cb = ec_master_internal_receive_cb;
- master->cb_data = master;
-
- down(&master->master_sem);
- ec_master_clear_domains(master);
- ec_master_clear_slave_configs(master);
- up(&master->master_sem);
-
- for (slave = master->slaves;
- slave < master->slaves + master->slave_count;
- slave++) {
-
- // set states for all slaves
- ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
-
- // mark for reconfiguration, because the master could have no
- // possibility for a reconfiguration between two sequential operation
- // phases.
- slave->force_config = 1;
- }
-
-#ifdef EC_EOE
- // ... but leave EoE slaves in OP
- list_for_each_entry(eoe, &master->eoe_handlers, list) {
- if (ec_eoe_is_open(eoe))
- ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
- }
-#endif
-
- master->app_time = 0ULL;
- master->app_start_time = 0ULL;
- master->has_start_time = 0;
-
- if (ec_master_thread_start(master, ec_master_idle_thread,
- "EtherCAT-IDLE"))
- EC_WARN("Failed to restart master thread!\n");
-#ifdef EC_EOE
- ec_master_eoe_start(master);
-#endif
-
- master->allow_scan = 1;
- master->allow_config = 1;
}
/*****************************************************************************/
@@ -1635,6 +1586,11 @@
if (master->debug_level)
EC_DBG("ecrt_master_activate(master = 0x%x)\n", (u32) master);
+ if (master->active) {
+ EC_WARN("%s: Master already active!\n", __func__);
+ return 0;
+ }
+
down(&master->master_sem);
// finish all domains
@@ -1684,11 +1640,80 @@
master->allow_config = 1; // request the current configuration
master->allow_scan = 1; // allow re-scanning on topology change
+ master->active = 1;
return 0;
}
/*****************************************************************************/
+void ecrt_master_deactivate(ec_master_t *master)
+{
+ ec_slave_t *slave;
+#ifdef EC_EOE
+ ec_eoe_t *eoe;
+#endif
+
+ if (master->debug_level)
+ EC_DBG("ecrt_master_deactivate(master = 0x%x)\n", (u32) master);
+
+ if (!master->active) {
+ EC_WARN("%s: Master not active.\n", __func__);
+ return;
+ }
+
+#ifdef EC_EOE
+ ec_master_eoe_stop(master);
+#endif
+ ec_master_thread_stop(master);
+
+ master->send_cb = ec_master_internal_send_cb;
+ master->receive_cb = ec_master_internal_receive_cb;
+ master->cb_data = master;
+
+ down(&master->master_sem);
+ ec_master_clear_domains(master);
+ ec_master_clear_slave_configs(master);
+ up(&master->master_sem);
+
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+
+ // set states for all slaves
+ ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
+
+ // mark for reconfiguration, because the master could have no
+ // possibility for a reconfiguration between two sequential operation
+ // phases.
+ slave->force_config = 1;
+ }
+
+#ifdef EC_EOE
+ // ... but leave EoE slaves in OP
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (ec_eoe_is_open(eoe))
+ ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
+ }
+#endif
+
+ master->app_time = 0ULL;
+ master->app_start_time = 0ULL;
+ master->has_start_time = 0;
+
+ if (ec_master_thread_start(master, ec_master_idle_thread,
+ "EtherCAT-IDLE"))
+ EC_WARN("Failed to restart master thread!\n");
+#ifdef EC_EOE
+ ec_master_eoe_start(master);
+#endif
+
+ master->allow_scan = 1;
+ master->allow_config = 1;
+ master->active = 0;
+}
+
+/*****************************************************************************/
+
void ecrt_master_send(ec_master_t *master)
{
ec_datagram_t *datagram, *n;
@@ -1903,6 +1928,7 @@
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
+EXPORT_SYMBOL(ecrt_master_deactivate);
EXPORT_SYMBOL(ecrt_master_send);
EXPORT_SYMBOL(ecrt_master_send_ext);
EXPORT_SYMBOL(ecrt_master_receive);
--- a/master/master.h Fri Aug 21 09:45:53 2009 +0200
+++ b/master/master.h Fri Aug 21 09:46:29 2009 +0200
@@ -108,6 +108,7 @@
ec_fsm_master_t fsm; /**< Master state machine. */
ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
ec_master_phase_t phase; /**< Master phase. */
+ unsigned int active; /**< Master has been activated. */
unsigned int injection_seq_fsm; /**< Datagram injection sequence number
for the FSM side. */
unsigned int injection_seq_rt; /**< Datagram injection sequence number
--- a/tool/CommandMaster.cpp Fri Aug 21 09:45:53 2009 +0200
+++ b/tool/CommandMaster.cpp Fri Aug 21 09:46:29 2009 +0200
@@ -91,6 +91,7 @@
}
cout << endl
+ << " Active: " << (data.active ? "yes" : "no") << endl
<< " Slaves: " << data.slave_count << endl
<< " Ethernet devices:" << endl;