--- a/examples/dc_rtai/dc_rtai_sample.c Tue Jul 28 16:06:21 2009 +0000
+++ b/examples/dc_rtai/dc_rtai_sample.c Wed Jul 29 09:19:53 2009 +0000
@@ -238,24 +238,28 @@
/*****************************************************************************/
-void send_callback(ec_master_t *master)
-{
+void send_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle <= t_critical) {
rt_sem_wait(&master_sem);
- ecrt_master_send_ext(master);
+ ecrt_master_send_ext(m);
rt_sem_signal(&master_sem);
}
}
/*****************************************************************************/
-void receive_callback(ec_master_t *master)
-{
+void receive_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle <= t_critical) {
rt_sem_wait(&master_sem);
- ecrt_master_receive(master);
+ ecrt_master_receive(m);
rt_sem_signal(&master_sem);
}
}
@@ -281,7 +285,7 @@
goto out_return;
}
- ecrt_master_callbacks(master, send_callback, receive_callback);
+ ecrt_master_callbacks(master, send_callback, receive_callback, master);
printk(KERN_INFO PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
--- a/examples/mini/mini.c Tue Jul 28 16:06:21 2009 +0000
+++ b/examples/mini/mini.c Wed Jul 29 09:19:53 2009 +0000
@@ -354,19 +354,21 @@
/*****************************************************************************/
-void send_callback(ec_master_t *master)
-{
- down(&master_sem);
- ecrt_master_send_ext(master);
- up(&master_sem);
-}
-
-/*****************************************************************************/
-
-void receive_callback(ec_master_t *master)
-{
- down(&master_sem);
- ecrt_master_receive(master);
+void send_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+ down(&master_sem);
+ ecrt_master_send_ext(m);
+ up(&master_sem);
+}
+
+/*****************************************************************************/
+
+void receive_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+ down(&master_sem);
+ ecrt_master_receive(m);
up(&master_sem);
}
@@ -392,7 +394,7 @@
}
init_MUTEX(&master_sem);
- ecrt_master_callbacks(master, send_callback, receive_callback);
+ ecrt_master_callbacks(master, send_callback, receive_callback, master);
printk(KERN_INFO PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
--- a/examples/rtai/rtai_sample.c Tue Jul 28 16:06:21 2009 +0000
+++ b/examples/rtai/rtai_sample.c Wed Jul 29 09:19:53 2009 +0000
@@ -243,24 +243,28 @@
/*****************************************************************************/
-void send_callback(ec_master_t *master)
-{
+void send_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle <= t_critical) {
rt_sem_wait(&master_sem);
- ecrt_master_send_ext(master);
+ ecrt_master_send_ext(m);
rt_sem_signal(&master_sem);
}
}
/*****************************************************************************/
-void receive_callback(ec_master_t *master)
-{
+void receive_callback(void *cb_data)
+{
+ ec_master_t *m = (ec_master_t *) cb_data;
+
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle <= t_critical) {
rt_sem_wait(&master_sem);
- ecrt_master_receive(master);
+ ecrt_master_receive(m);
rt_sem_signal(&master_sem);
}
}
@@ -288,7 +292,7 @@
goto out_return;
}
- ecrt_master_callbacks(master, send_callback, receive_callback);
+ ecrt_master_callbacks(master, send_callback, receive_callback, master);
printk(KERN_INFO PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
--- a/include/ecrt.h Tue Jul 28 16:06:21 2009 +0000
+++ b/include/ecrt.h Wed Jul 29 09:19:53 2009 +0000
@@ -477,8 +477,10 @@
*/
void ecrt_master_callbacks(
ec_master_t *master, /**< EtherCAT master */
- void (*send_cb)(ec_master_t *), /**< Datagram sending callback. */
- void (*receive_cb)(ec_master_t *) /**< Receive callback. */
+ void (*send_cb)(void *), /**< Datagram sending callback. */
+ void (*receive_cb)(void *), /**< Receive callback. */
+ void *cb_data /**< Arbitraty pointer passed to the callback functions.
+ */
);
#endif /* __KERNEL__ */
--- a/master/cdev.c Tue Jul 28 16:06:21 2009 +0000
+++ b/master/cdev.c Wed Jul 29 09:19:53 2009 +0000
@@ -1622,7 +1622,7 @@
}
ecrt_master_callbacks(master, ec_master_internal_send_cb,
- ec_master_internal_receive_cb);
+ ec_master_internal_receive_cb, master);
ret = ecrt_master_activate(master);
if (ret < 0)
--- a/master/master.c Tue Jul 28 16:06:21 2009 +0000
+++ b/master/master.c Wed Jul 29 09:19:53 2009 +0000
@@ -168,8 +168,10 @@
init_MUTEX(&master->io_sem);
master->send_cb = NULL;
master->receive_cb = NULL;
+ master->cb_data = NULL;
master->app_send_cb = NULL;
master->app_receive_cb = NULL;
+ master->app_cb_data = NULL;
INIT_LIST_HEAD(&master->sii_requests);
init_waitqueue_head(&master->sii_queue);
@@ -382,9 +384,10 @@
/** Internal sending callback.
*/
void ec_master_internal_send_cb(
- ec_master_t *master /**< EtherCAT master. */
- )
-{
+ void *cb_data /**< Callback data. */
+ )
+{
+ ec_master_t *master = (ec_master_t *) cb_data;
down(&master->io_sem);
ecrt_master_send_ext(master);
up(&master->io_sem);
@@ -395,9 +398,10 @@
/** Internal receiving callback.
*/
void ec_master_internal_receive_cb(
- ec_master_t *master /**< EtherCAT master. */
- )
-{
+ void *cb_data /**< Callback data. */
+ )
+{
+ ec_master_t *master = (ec_master_t *) cb_data;
down(&master->io_sem);
ecrt_master_receive(master);
up(&master->io_sem);
@@ -473,6 +477,7 @@
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
+ master->cb_data = master;
master->phase = EC_IDLE;
ret = ec_master_thread_start(master, ec_master_idle_thread,
@@ -574,6 +579,7 @@
master->phase = EC_OPERATION;
master->app_send_cb = NULL;
master->app_receive_cb = NULL;
+ master->app_cb_data = NULL;
return ret;
out_allow:
@@ -606,6 +612,7 @@
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);
@@ -1130,7 +1137,7 @@
goto schedule;
// receive datagrams
- master->receive_cb(master);
+ master->receive_cb(master->cb_data);
// actual EoE processing
sth_to_send = 0;
@@ -1150,7 +1157,7 @@
}
// (try to) send datagrams
down(&master->ext_queue_sem);
- master->send_cb(master);
+ master->send_cb(master->cb_data);
up(&master->ext_queue_sem);
}
@@ -1659,6 +1666,7 @@
master->send_cb = master->app_send_cb;
master->receive_cb = master->app_receive_cb;
+ master->cb_data = master->app_cb_data;
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
@@ -1836,15 +1844,16 @@
/*****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master,
- void (*send_cb)(ec_master_t *), void (*receive_cb)(ec_master_t *))
+ void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
{
if (master->debug_level)
EC_DBG("ecrt_master_callbacks(master = 0x%x, send_cb = 0x%x, "
- " receive_cb = 0x%x)\n", (u32) master, (u32) send_cb,
- (u32) receive_cb);
+ " receive_cb = 0x%x, cb_data = 0x%x)\n", (u32) master,
+ (u32) send_cb, (u32) receive_cb, (u32) cb_data);
master->app_send_cb = send_cb;
master->app_receive_cb = receive_cb;
+ master->app_cb_data = cb_data;
}
/*****************************************************************************/
--- a/master/master.h Tue Jul 28 16:06:21 2009 +0000
+++ b/master/master.h Wed Jul 29 09:19:53 2009 +0000
@@ -166,12 +166,14 @@
struct semaphore io_sem; /**< Semaphore used in \a IDLE phase. */
- void (*send_cb)(ec_master_t *); /**< Current send datagrams callback. */
- void (*receive_cb)(ec_master_t *); /**< Current receive datagrams callback. */
- void (*app_send_cb)(ec_master_t *); /**< Application's send datagrams
+ void (*send_cb)(void *); /**< Current send datagrams callback. */
+ void (*receive_cb)(void *); /**< Current receive datagrams callback. */
+ void *cb_data; /**< Current callback data. */
+ void (*app_send_cb)(void *); /**< Application's send datagrams
callback. */
- void (*app_receive_cb)(ec_master_t *); /**< Application's receive datagrams
+ void (*app_receive_cb)(void *); /**< Application's receive datagrams
callback. */
+ void *app_cb_data; /**< Application callback data. */
struct list_head sii_requests; /**< SII write requests. */
wait_queue_head_t sii_queue; /**< Wait queue for SII
@@ -247,9 +249,9 @@
void ec_master_calc_dc(ec_master_t *);
-void ec_master_internal_send_cb(ec_master_t *);
-void ec_master_internal_receive_cb(ec_master_t *);
-
-/*****************************************************************************/
-
-#endif
+void ec_master_internal_send_cb(void *);
+void ec_master_internal_receive_cb(void *);
+
+/*****************************************************************************/
+
+#endif