--- a/AUTHORS Thu Nov 23 20:19:26 2006 +0000
+++ b/AUTHORS Fri Nov 24 11:02:35 2006 +0000
@@ -1,1 +1,5 @@
+
+$Id$
+
+Authors:
Florian Pose <fp@igh-essen.com>
--- a/NEWS Thu Nov 23 20:19:26 2006 +0000
+++ b/NEWS Fri Nov 24 11:02:35 2006 +0000
@@ -4,6 +4,27 @@
-------------------------------------------------------------------------------
+Changes in version 1.2.0:
+
+* Re-introduced ecrt_domain_queue() to allow datagram queuing apart
+ from datagram processing. The queuing of a domain's datagrams is not
+ done in ecrt_domain_process() any more!
+* Removed ecrt_master_deactivate(). Its functionality was moved into
+ ecrt_master_release().
+* Removed ecrt_master_prepare(). Its functionality was moved into
+ ecrt_master_activate().
+* Removed ecdev_start() and ecdev_stop(). Their functionality was moved into
+ ecdev_register() and ecdev_unregister, respectively.
+* The data_ptr parameter of ecrt_domain_register_pdo(),
+ ecrt_domain_register_pdo_list() and ecrt_domain_register_pdo_range() may
+ not be NULL any more.
+* Removed ecrt_slave_pdo_size(). This function was deprecated long before.
+* Added frame counter to master info file.
+
+-------------------------------------------------------------------------------
+
+Changes in version 1.1.1:
+
* State change FSM: Clearing of sync managers before PREOP.
* Added modules_install make target.
* Device modules for kernel 2.6.17.
--- a/bootstrap Thu Nov 23 20:19:26 2006 +0000
+++ b/bootstrap Fri Nov 24 11:02:35 2006 +0000
@@ -1,5 +1,7 @@
#!/bin/bash
+# $Id$
+
set -x
mkdir -p autoconf
aclocal -I autoconf
--- a/devices/8139too-2.6.13-ethercat.c Thu Nov 23 20:19:26 2006 +0000
+++ b/devices/8139too-2.6.13-ethercat.c Fri Nov 24 11:02:35 2006 +0000
@@ -2907,20 +2907,12 @@
printk(KERN_ERR "Failed to register EtherCAT device!\n");
goto out_pci;
}
-
- printk(KERN_INFO "Starting EtherCAT device...\n");
- if (ecdev_start(ec_device_master_index)) {
- printk(KERN_ERR "Failed to start EtherCAT device!\n");
- goto out_unregister;
- }
} else {
printk(KERN_WARNING "No EtherCAT device registered!\n");
}
return 0;
- out_unregister:
- ecdev_unregister(ec_device_master_index, rtl_ec_dev);
out_pci:
pci_unregister_driver(&rtl8139_pci_driver);
out_return:
@@ -2937,8 +2929,6 @@
printk(KERN_INFO "Cleaning up RTL8139-EtherCAT module...\n");
if (rtl_ec_net_dev) {
- printk(KERN_INFO "Stopping device...\n");
- ecdev_stop(ec_device_master_index);
printk(KERN_INFO "Unregistering device...\n");
ecdev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
--- a/devices/8139too-2.6.17-ethercat.c Thu Nov 23 20:19:26 2006 +0000
+++ b/devices/8139too-2.6.17-ethercat.c Fri Nov 24 11:02:35 2006 +0000
@@ -2905,20 +2905,12 @@
printk(KERN_ERR "Failed to register EtherCAT device!\n");
goto out_pci;
}
-
- printk(KERN_INFO "Starting EtherCAT device...\n");
- if (ecdev_start(ec_device_master_index)) {
- printk(KERN_ERR "Failed to start EtherCAT device!\n");
- goto out_unregister;
- }
} else {
printk(KERN_WARNING "No EtherCAT device registered!\n");
}
return 0;
- out_unregister:
- ecdev_unregister(ec_device_master_index, rtl_ec_dev);
out_pci:
pci_unregister_driver(&rtl8139_pci_driver);
out_return:
@@ -2935,8 +2927,6 @@
printk(KERN_INFO "Cleaning up RTL8139-EtherCAT module...\n");
if (rtl_ec_net_dev) {
- printk(KERN_INFO "Stopping device...\n");
- ecdev_stop(ec_device_master_index);
printk(KERN_INFO "Unregistering device...\n");
ecdev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
--- a/devices/ecdev.h Thu Nov 23 20:19:26 2006 +0000
+++ b/devices/ecdev.h Fri Nov 24 11:02:35 2006 +0000
@@ -71,9 +71,6 @@
struct module *module);
void ecdev_unregister(unsigned int master_index, ec_device_t *device);
-int ecdev_start(unsigned int master_index);
-void ecdev_stop(unsigned int master_index);
-
/*****************************************************************************/
// Device methods
--- a/include/ecrt.h Thu Nov 23 20:19:26 2006 +0000
+++ b/include/ecrt.h Fri Nov 24 11:02:35 2006 +0000
@@ -110,8 +110,6 @@
int ecrt_master_activate(ec_master_t *master);
-void ecrt_master_prepare(ec_master_t *master);
-
void ecrt_master_send(ec_master_t *master);
void ecrt_master_receive(ec_master_t *master);
--- a/master/domain.c Thu Nov 23 20:19:26 2006 +0000
+++ b/master/domain.c Fri Nov 24 11:02:35 2006 +0000
@@ -503,7 +503,6 @@
/**
Registers a PDO in a domain.
- - If \a data_ptr is NULL, the slave is only validated.
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
@@ -537,8 +536,6 @@
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
- if (!data_ptr) return slave;
-
list_for_each_entry(pdo, &slave->sii_pdos, list) {
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != pdo_index
@@ -561,7 +558,7 @@
/**
Registeres a bunch of data fields.
- Caution! The list has to be terminated with a NULL structure ({})!
+ \attention The list has to be terminated with a NULL structure ({})!
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
@@ -590,7 +587,6 @@
/**
Registers a PDO range in a domain.
- - If \a data_ptr is NULL, the slave is only validated.
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
@@ -624,8 +620,6 @@
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
- if (!data_ptr) return slave;
-
if (ec_domain_reg_pdo_range(domain, slave,
direction, offset, length, data_ptr)) {
return NULL;
--- a/master/domain.h Thu Nov 23 20:19:26 2006 +0000
+++ b/master/domain.h Fri Nov 24 11:02:35 2006 +0000
@@ -79,7 +79,6 @@
void ec_domain_destroy(ec_domain_t *);
int ec_domain_alloc(ec_domain_t *, uint32_t);
-void ec_domain_queue_datagrams(ec_domain_t *);
/*****************************************************************************/
--- a/master/master.c Thu Nov 23 20:19:26 2006 +0000
+++ b/master/master.c Fri Nov 24 11:02:35 2006 +0000
@@ -129,7 +129,6 @@
master->debug_level = 0;
master->stats.timeouts = 0;
- master->stats.starved = 0;
master->stats.corrupted = 0;
master->stats.skipped = 0;
master->stats.unmatched = 0;
@@ -711,11 +710,6 @@
master->stats.timeouts == 1 ? "" : "s");
master->stats.timeouts = 0;
}
- if (master->stats.starved) {
- EC_WARN("%i datagram%s STARVED!\n", master->stats.starved,
- master->stats.starved == 1 ? "" : "s");
- master->stats.starved = 0;
- }
if (master->stats.corrupted) {
EC_WARN("%i frame%s CORRUPTED!\n", master->stats.corrupted,
master->stats.corrupted == 1 ? "" : "s");
@@ -1272,6 +1266,36 @@
return -1;
}
+/*****************************************************************************/
+
+/**
+ Prepares synchronous IO.
+ Queues all domain datagrams and sends them. Then waits a certain time, so
+ that ecrt_master_receive() can be called securely.
+*/
+
+void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_domain_t *domain;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
+
+ // queue datagrams of all domains
+ list_for_each_entry(domain, &master->domains, list)
+ ecrt_domain_queue(domain);
+
+ ecrt_master_send(master);
+
+ cycles_start = get_cycles();
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
+
+ // active waiting
+ while (1) {
+ udelay(100);
+ cycles_end = get_cycles();
+ if (cycles_end - cycles_start >= cycles_timeout) break;
+ }
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
@@ -1354,26 +1378,14 @@
}
}
+ ec_master_prepare(master); // prepare asynchronous IO
+
return 0;
}
/*****************************************************************************/
/**
- Resets all slaves to INIT state.
- This method is deprecated and will disappear in the next version
- of the realtime interface. The functionality is moved to
- ecrt_master_release().
- \ingroup RealtimeInterface
-*/
-
-void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
-{
-}
-
-/*****************************************************************************/
-
-/**
Sends queued datagrams and waits for their reception.
*/
@@ -1445,59 +1457,15 @@
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
- switch (datagram->state) {
- case EC_DATAGRAM_QUEUED:
- if (master->device->cycles_isr
- - datagram->cycles_queued > cycles_timeout) {
- list_del_init(&datagram->queue);
- datagram->state = EC_DATAGRAM_TIMED_OUT;
- master->stats.starved++;
- ec_master_output_stats(master);
- }
- break;
- case EC_DATAGRAM_SENT:
- if (master->device->cycles_isr
- - datagram->cycles_sent > cycles_timeout) {
- list_del_init(&datagram->queue);
- datagram->state = EC_DATAGRAM_TIMED_OUT;
- master->stats.timeouts++;
- ec_master_output_stats(master);
- }
- break;
- default:
- break;
- }
- }
-}
-
-/*****************************************************************************/
-
-/**
- Prepares synchronous IO.
- Queues all domain datagrams and sends them. Then waits a certain time, so
- that ecrt_master_receive() can be called securely.
- \ingroup RealtimeInterface
-*/
-
-void ecrt_master_prepare(ec_master_t *master /**< EtherCAT master */)
-{
- ec_domain_t *domain;
- cycles_t cycles_start, cycles_end, cycles_timeout;
-
- // queue datagrams of all domains
- list_for_each_entry(domain, &master->domains, list)
- ec_domain_queue_datagrams(domain);
-
- ecrt_master_send(master);
-
- cycles_start = get_cycles();
- cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
-
- // active waiting
- while (1) {
- udelay(100);
- cycles_end = get_cycles();
- if (cycles_end - cycles_start >= cycles_timeout) break;
+ if (datagram->state != EC_DATAGRAM_SENT) continue;
+
+ if (master->device->cycles_isr - datagram->cycles_sent
+ > cycles_timeout) {
+ list_del_init(&datagram->queue);
+ datagram->state = EC_DATAGRAM_TIMED_OUT;
+ master->stats.timeouts++;
+ ec_master_output_stats(master);
+ }
}
}
@@ -1651,8 +1619,6 @@
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
-EXPORT_SYMBOL(ecrt_master_deactivate);
-EXPORT_SYMBOL(ecrt_master_prepare);
EXPORT_SYMBOL(ecrt_master_send);
EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_run);
--- a/master/master.h Thu Nov 23 20:19:26 2006 +0000
+++ b/master/master.h Fri Nov 24 11:02:35 2006 +0000
@@ -75,7 +75,6 @@
typedef struct
{
unsigned int timeouts; /**< datagram timeouts */
- unsigned int starved; /**< starved datagrams (not even sent) */
unsigned int corrupted; /**< corrupted frames */
unsigned int skipped; /**< skipped datagrams (the ones that were
requeued when not yet received) */
--- a/master/module.c Thu Nov 23 20:19:26 2006 +0000
+++ b/master/module.c Fri Nov 24 11:02:35 2006 +0000
@@ -311,9 +311,19 @@
goto out_free;
}
+ if (ec_device_open(master->device)) {
+ EC_ERR("Failed to open device!\n");
+ goto out_clear;
+ }
+
up(&master->device_sem);
+
+ ec_master_enter_idle_mode(master);
+
return master->device;
+ out_clear:
+ ec_device_clear(master->device);
out_free:
kfree(master->device);
master->device = NULL;
@@ -342,6 +352,11 @@
if (!(master = ec_find_master(master_index))) return;
+ ec_master_leave_idle_mode(master);
+
+ if (ec_device_close(master->device))
+ EC_WARN("Failed to close device!\n");
+
down(&master->device_sem);
if (!master->device || master->device != device) {
@@ -357,51 +372,6 @@
up(&master->device_sem);
}
-/*****************************************************************************/
-
-/**
- Starts the master associated with the device.
- This function has to be called by the network device driver to tell the
- master that the device is ready to send and receive data. The master
- will enter the idle mode then.
- \ingroup DeviceInterface
-*/
-
-int ecdev_start(unsigned int master_index /**< master index */)
-{
- ec_master_t *master;
- if (!(master = ec_find_master(master_index))) return -1;
-
- if (ec_device_open(master->device)) {
- EC_ERR("Failed to open device!\n");
- return -1;
- }
-
- ec_master_enter_idle_mode(master);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Stops the master associated with the device.
- Tells the master to stop using the device for frame IO. Has to be called
- before unregistering the device.
- \ingroup DeviceInterface
-*/
-
-void ecdev_stop(unsigned int master_index /**< master index */)
-{
- ec_master_t *master;
- if (!(master = ec_find_master(master_index))) return;
-
- ec_master_leave_idle_mode(master);
-
- if (ec_device_close(master->device))
- EC_WARN("Failed to close device!\n");
-}
-
/******************************************************************************
* Realtime interface
*****************************************************************************/
@@ -495,8 +465,6 @@
EXPORT_SYMBOL(ecdev_register);
EXPORT_SYMBOL(ecdev_unregister);
-EXPORT_SYMBOL(ecdev_start);
-EXPORT_SYMBOL(ecdev_stop);
EXPORT_SYMBOL(ecrt_request_master);
EXPORT_SYMBOL(ecrt_release_master);