Renamed master 'mode' to 'phase'.
--- a/TODO Wed Jun 18 12:49:11 2008 +0000
+++ b/TODO Wed Jun 18 13:33:50 2008 +0000
@@ -16,7 +16,6 @@
* Update documentation.
* Check for sizes of uploaded Sdos when reading mapping from CoE.
* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.
-* Rename master MODE to STATE.
* Remove the end state of the master state machine.
* Add a -n (numeric) switch to ethercat command.
--- a/master/cdev.c Wed Jun 18 12:49:11 2008 +0000
+++ b/master/cdev.c Wed Jun 18 13:33:50 2008 +0000
@@ -148,7 +148,7 @@
data.slave_count = master->slave_count;
data.config_count = ec_master_config_count(master);
data.domain_count = ec_master_domain_count(master);
- data.mode = (uint8_t) master->mode;
+ data.phase = (uint8_t) master->phase;
memcpy(data.devices[0].address, master->main_mac, ETH_ALEN);
data.devices[0].attached = master->main_device.dev ? 1 : 0;
--- a/master/device.c Wed Jun 18 12:49:11 2008 +0000
+++ b/master/device.c Wed Jun 18 13:33:50 2008 +0000
@@ -421,7 +421,7 @@
/*****************************************************************************/
-/** Opens the network device and makes the master enter IDLE mode.
+/** Opens the network device and makes the master enter IDLE phase.
*
* \return 0 on success, else < 0
* \ingroup DeviceInterface
@@ -433,8 +433,8 @@
return -1;
}
- if (ec_master_enter_idle_mode(device->master)) {
- EC_ERR("Failed to enter idle mode!\n");
+ if (ec_master_enter_idle_phase(device->master)) {
+ EC_ERR("Failed to enter IDLE phase!\n");
return -1;
}
@@ -443,14 +443,14 @@
/*****************************************************************************/
-/** Makes the master leave IDLE mode and closes the network device.
+/** Makes the master leave IDLE phase and closes the network device.
*
* \return 0 on success, else < 0
* \ingroup DeviceInterface
*/
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
{
- ec_master_leave_idle_mode(device->master);
+ ec_master_leave_idle_phase(device->master);
if (ec_device_close(device))
EC_WARN("Failed to close device!\n");
--- a/master/fsm_master.c Wed Jun 18 12:49:11 2008 +0000
+++ b/master/fsm_master.c Wed Jun 18 13:33:50 2008 +0000
@@ -260,9 +260,9 @@
slave = master->slaves + i;
ec_slave_init(slave, master, i, i + 1);
- // do not force reconfiguration in operation mode to avoid
+ // do not force reconfiguration in operation phase to avoid
// unnecesssary process data interruptions
- if (master->mode != EC_MASTER_MODE_OPERATION)
+ if (master->phase != EC_OPERATION)
slave->force_config = 1;
}
--- a/master/ioctl.h Wed Jun 18 12:49:11 2008 +0000
+++ b/master/ioctl.h Wed Jun 18 13:33:50 2008 +0000
@@ -83,7 +83,7 @@
uint32_t slave_count;
uint32_t config_count;
uint32_t domain_count;
- uint8_t mode;
+ uint8_t phase;
struct {
uint8_t address[6];
uint8_t attached;
--- a/master/master.c Wed Jun 18 12:49:11 2008 +0000
+++ b/master/master.c Wed Jun 18 13:33:50 2008 +0000
@@ -91,7 +91,7 @@
master->backup_mac = backup_mac;
init_MUTEX(&master->device_sem);
- master->mode = EC_MASTER_MODE_ORPHANED;
+ master->phase = EC_ORPHANED;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
@@ -338,7 +338,9 @@
/** Stops the master thread.
*/
-void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)
+void ec_master_thread_stop(
+ ec_master_t *master /**< EtherCAT master */
+ )
{
if (!master->thread_id) {
EC_WARN("ec_master_thread_stop: Already finished!\n");
@@ -362,9 +364,11 @@
/*****************************************************************************/
-/** Transition function from ORPHANED to IDLE mode.
- */
-int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
+/** Transition function from ORPHANED to IDLE phase.
+ */
+int ec_master_enter_idle_phase(
+ ec_master_t *master /**< EtherCAT master */
+ )
{
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
@@ -373,9 +377,9 @@
if (master->debug_level)
EC_DBG("ORPHANED -> IDLE.\n");
- master->mode = EC_MASTER_MODE_IDLE;
+ master->phase = EC_IDLE;
if (ec_master_thread_start(master, ec_master_idle_thread)) {
- master->mode = EC_MASTER_MODE_ORPHANED;
+ master->phase = EC_ORPHANED;
return -1;
}
@@ -384,14 +388,14 @@
/*****************************************************************************/
-/** Transition function from IDLE to ORPHANED mode.
- */
-void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
+/** Transition function from IDLE to ORPHANED phase.
+ */
+void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
{
if (master->debug_level)
EC_DBG("IDLE -> ORPHANED.\n");
- master->mode = EC_MASTER_MODE_ORPHANED;
+ master->phase = EC_ORPHANED;
#ifdef EC_EOE
ec_master_eoe_stop(master);
@@ -402,9 +406,9 @@
/*****************************************************************************/
-/** Transition function from IDLE to OPERATION mode.
- */
-int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
+/** Transition function from IDLE to OPERATION phase.
+ */
+int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
#ifdef EC_EOE
@@ -464,9 +468,9 @@
#endif
if (master->debug_level)
- EC_DBG("Switching to operation mode.\n");
-
- master->mode = EC_MASTER_MODE_OPERATION;
+ EC_DBG("Switching to operation phase.\n");
+
+ master->phase = EC_OPERATION;
master->ext_request_cb = NULL;
master->ext_release_cb = NULL;
master->ext_cb_data = NULL;
@@ -480,9 +484,9 @@
/*****************************************************************************/
-/** Transition function from OPERATION to IDLE mode.
- */
-void ec_master_leave_operation_mode(ec_master_t *master
+/** Transition function from OPERATION to IDLE phase.
+ */
+void ec_master_leave_operation_phase(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
@@ -493,7 +497,7 @@
if (master->debug_level)
EC_DBG("OPERATION -> IDLE.\n");
- master->mode = EC_MASTER_MODE_IDLE;
+ master->phase = EC_IDLE;
#ifdef EC_EOE
ec_master_eoe_stop(master);
@@ -771,7 +775,7 @@
/*****************************************************************************/
-/** Output statistics in cyclic mode.
+/** Output master statistics.
*
* This function outputs statistical data on demand, but not more often than
* necessary. The output happens at most once a second.
@@ -801,7 +805,7 @@
/*****************************************************************************/
-/** Master kernel thread function for IDLE mode.
+/** Master kernel thread function for IDLE phase.
*/
static int ec_master_idle_thread(ec_master_t *master)
{
@@ -857,7 +861,7 @@
/*****************************************************************************/
-/** Master kernel thread function for IDLE mode.
+/** Master kernel thread function for IDLE phase.
*/
static int ec_master_operation_thread(ec_master_t *master)
{
--- a/master/master.h Wed Jun 18 12:49:11 2008 +0000
+++ b/master/master.h Wed Jun 18 13:33:50 2008 +0000
@@ -53,13 +53,16 @@
/*****************************************************************************/
-/** EtherCAT master mode.
+/** EtherCAT master phase.
*/
typedef enum {
- EC_MASTER_MODE_ORPHANED,
- EC_MASTER_MODE_IDLE,
- EC_MASTER_MODE_OPERATION
-} ec_master_mode_t;
+ EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
+ attached. */
+ EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
+ is not in use, yet. */
+ EC_OPERATION /**< Operation phase. The master was requested by a realtime
+ application. */
+} ec_master_phase_t;
/*****************************************************************************/
@@ -80,25 +83,25 @@
* Manages slaves, domains and IO.
*/
struct ec_master {
- unsigned int index; /**< master index */
- unsigned int reserved; /**< non-zero, if the master is reserved for RT */
+ unsigned int index; /**< Index. */
+ unsigned int reserved; /**< \a True, if the master is in use. */
ec_cdev_t cdev; /**< Master character device. */
struct class_device *class_device; /**< Master class device. */
- ec_device_t main_device; /**< EtherCAT device */
- const uint8_t *main_mac; /**< MAC address of main device */
- ec_device_t backup_device; /**< EtherCAT backup device */
- const uint8_t *backup_mac; /**< MAC address of backup device */
- struct semaphore device_sem; /**< device semaphore */
-
- ec_fsm_master_t fsm; /**< master state machine */
- ec_datagram_t fsm_datagram; /**< datagram used for state machines */
- ec_master_mode_t mode; /**< master mode */
- unsigned int injection_seq_fsm; /**< datagram injection sequence number
- for the FSM side */
- unsigned int injection_seq_rt; /**< datagram injection sequence number
- for the realtime side */
+ ec_device_t main_device; /**< EtherCAT main device. */
+ const uint8_t *main_mac; /**< MAC address of main device. */
+ ec_device_t backup_device; /**< EtherCAT backup device. */
+ const uint8_t *backup_mac; /**< MAC address of backup device. */
+ struct semaphore device_sem; /**< Device semaphore. */
+
+ 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 injection_seq_fsm; /**< Datagram injection sequence number
+ for the FSM side. */
+ unsigned int injection_seq_rt; /**< Datagram injection sequence number
+ for the realtime side. */
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
@@ -106,61 +109,62 @@
struct list_head configs; /**< List of slave configurations. */
unsigned int scan_busy; /**< Current scan state. */
- unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */
- struct semaphore scan_sem; /**< semaphore protecting the scan_state
- variable and the allow_scan flag */
- wait_queue_head_t scan_queue; /**< queue for processes that wait for
- slave scanning */
+ unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
+ struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
+ variable and the \a allow_scan flag. */
+ wait_queue_head_t scan_queue; /**< Queue for processes that wait for
+ slave scanning. */
unsigned int config_busy; /**< State of slave configuration. */
- unsigned int allow_config; /**< non-zero, if slave scanning is allowed */
- struct semaphore config_sem; /**< semaphore protecting the config_state
- variable and the allow_config flag */
- wait_queue_head_t config_queue; /**< queue for processes that wait for
- slave configuration */
-
- struct list_head datagram_queue; /**< datagram queue */
- uint8_t datagram_index; /**< current datagram index */
-
- struct list_head domains; /**< list of domains */
+ unsigned int allow_config; /**< \a True, if slave configuration is
+ allowed. */
+ struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
+ variable and the allow_config flag. */
+ wait_queue_head_t config_queue; /**< Queue for processes that wait for
+ slave configuration. */
+
+ struct list_head datagram_queue; /**< Datagram queue. */
+ uint8_t datagram_index; /**< Current datagram index. */
+
+ struct list_head domains; /**< List of domains. */
int debug_level; /**< Master debug level. */
- ec_stats_t stats; /**< cyclic statistics */
- unsigned int frames_timed_out; /**< there were frame timeouts in the last
- call to ecrt_master_receive() */
-
- int thread_id; /**< master thread PID */
- struct completion thread_exit; /**< thread completion object */
- uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */
+ ec_stats_t stats; /**< Cyclic statistics. */
+ unsigned int frames_timed_out; /**< There were frame timeouts in the last
+ call to ecrt_master_receive(). */
+
+ int thread_id; /**< Master thread PID. */
+ struct completion thread_exit; /**< Thread completion object. */
+ uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring. */
unsigned int idle_cycle_time_pos; /**< time ring buffer position */
#ifdef EC_EOE
- 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 */
- uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */
- unsigned int eoe_cycle_time_pos; /**< time ring buffer position */
-#endif
-
- spinlock_t internal_lock; /**< spinlock used in idle mode */
- int (*request_cb)(void *); /**< lock request callback */
- void (*release_cb)(void *); /**< lock release callback */
- void *cb_data; /**< data parameter of locking callbacks */
- int (*ext_request_cb)(void *); /**< external lock request callback */
- void (*ext_release_cb)(void *); /**< externam lock release callback */
- void *ext_cb_data; /**< data parameter of external locking callbacks */
-
- struct list_head sii_requests; /**< SII write requests */
- struct semaphore sii_sem; /**< semaphore protecting the list of
- SII write requests */
- wait_queue_head_t sii_queue; /**< wait queue for SII
- write requests from user space */
+ struct timer_list eoe_timer; /**< EoE timer object. */
+ unsigned int eoe_running; /**< \a True, if EoE processing is active. */
+ struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
+ uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring. */
+ unsigned int eoe_cycle_time_pos; /**< Time ring buffer position. */
+#endif
+
+ spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
+ int (*request_cb)(void *); /**< Lock request callback. */
+ void (*release_cb)(void *); /**< Lock release callback. */
+ void *cb_data; /**< Data parameter of locking callbacks. */
+ int (*ext_request_cb)(void *); /**< External lock request callback. */
+ void (*ext_release_cb)(void *); /**< External lock release callback. */
+ void *ext_cb_data; /**< Data parameter of external locking callbacks. */
+
+ struct list_head sii_requests; /**< SII write requests. */
+ struct semaphore sii_sem; /**< Semaphore protecting the list of
+ SII write requests. */
+ wait_queue_head_t sii_queue; /**< Wait queue for SII
+ write requests from user space. */
struct list_head slave_sdo_requests; /**< Sdo access requests. */
- struct semaphore sdo_sem; /**< semaphore protecting the list of
- Sdo access requests */
- wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests
- from user space */
+ struct semaphore sdo_sem; /**< Semaphore protecting the list of
+ Sdo access requests. */
+ wait_queue_head_t sdo_queue; /**< Wait queue for Sdo access requests
+ from user space. */
};
/*****************************************************************************/
@@ -170,11 +174,11 @@
const uint8_t *, dev_t, struct class *);
void ec_master_clear(ec_master_t *);
-// mode transitions
-int ec_master_enter_idle_mode(ec_master_t *);
-void ec_master_leave_idle_mode(ec_master_t *);
-int ec_master_enter_operation_mode(ec_master_t *);
-void ec_master_leave_operation_mode(ec_master_t *);
+// phase transitions
+int ec_master_enter_idle_phase(ec_master_t *);
+void ec_master_leave_idle_phase(ec_master_t *);
+int ec_master_enter_operation_phase(ec_master_t *);
+void ec_master_leave_operation_phase(ec_master_t *);
#ifdef EC_EOE
// EoE
--- a/master/module.c Wed Jun 18 12:49:11 2008 +0000
+++ b/master/module.c Wed Jun 18 13:33:50 2008 +0000
@@ -484,7 +484,7 @@
down(&master->device_sem);
- if (master->mode != EC_MASTER_MODE_IDLE) {
+ if (master->phase != EC_IDLE) {
up(&master->device_sem);
EC_ERR("Master %u still waiting for devices!\n", master_index);
goto out_release;
@@ -498,8 +498,8 @@
up(&master->device_sem);
- if (ec_master_enter_operation_mode(master)) {
- EC_ERR("Failed to enter OPERATION mode!\n");
+ if (ec_master_enter_operation_phase(master)) {
+ EC_ERR("Failed to enter OPERATION phase!\n");
goto out_module_put;
}
@@ -525,7 +525,7 @@
return;
}
- ec_master_leave_operation_mode(master);
+ ec_master_leave_operation_phase(master);
module_put(master->main_device.module);
master->reserved = 0;
--- a/tools/Master.cpp Wed Jun 18 12:49:11 2008 +0000
+++ b/tools/Master.cpp Wed Jun 18 13:33:50 2008 +0000
@@ -434,14 +434,14 @@
cout
<< "Master" << index << endl
- << " State: ";
-
- switch (data.mode) {
+ << " Phase: ";
+
+ switch (data.phase) {
case 0: cout << "Waiting for device..."; break;
case 1: cout << "Idle"; break;
case 2: cout << "Operation"; break;
default:
- err << "Invalid master state " << data.mode;
+ err << "Invalid master phase " << data.phase;
throw MasterException(err.str());
}