EoE in Free-Run mode; Finished slave configuration state machine.

master/ethernet.c

@@ -70,17 +70,15 @@ struct net_device_stats *ec_eoedev_stats(struct net_device *);
 
 /**
    EoE constructor.
-   Initializes the EoE object, creates a net_device and registeres it.
+   Initializes the EoE handler, creates a net_device and registeres it.
 */
 
-int ec_eoe_init(ec_eoe_t *eoe, /**< EoE object */
-                ec_slave_t *slave /**< assigned slave */
-                )
+int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */)
 {
     ec_eoe_t **priv;
     int result, i;
 
-    eoe->slave = slave;
+    eoe->slave = NULL;
     eoe->state = ec_eoe_state_rx_start;
     eoe->opened = 0;
     eoe->rx_skb = NULL;
@@ -95,7 +93,7 @@ int ec_eoe_init(ec_eoe_t *eoe, /**< EoE object */
 
     if (!(eoe->dev =
           alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {
-        EC_ERR("Unable to allocate net_device for EoE object!\n");
+        EC_ERR("Unable to allocate net_device for EoE handler!\n");
         goto out_return;
     }
 
@@ -145,7 +143,7 @@ int ec_eoe_init(ec_eoe_t *eoe, /**< EoE object */
    Unregisteres the net_device and frees allocated memory.
 */
 
-void ec_eoe_clear(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */)
 {
     if (eoe->dev) {
         unregister_netdev(eoe->dev);
@@ -169,7 +167,7 @@ void ec_eoe_clear(ec_eoe_t *eoe /**< EoE object */)
    Empties the transmit queue.
 */
 
-void ec_eoe_flush(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_flush(ec_eoe_t *eoe /**< EoE handler */)
 {
     ec_eoe_frame_t *frame, *next;
 
@@ -191,7 +189,7 @@ void ec_eoe_flush(ec_eoe_t *eoe /**< EoE object */)
    Sends a frame or the next fragment.
 */
 
-int ec_eoe_send(ec_eoe_t *eoe /**< EoE object */)
+int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)
 {
     size_t remaining_size, current_size, complete_offset;
     unsigned int last_fragment;
@@ -262,7 +260,7 @@ int ec_eoe_send(ec_eoe_t *eoe /**< EoE object */)
    Runs the EoE state machine.
 */
 
-void ec_eoe_run(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
 {
     if (!eoe->opened) return;
 
@@ -277,22 +275,25 @@ void ec_eoe_run(ec_eoe_t *eoe /**< EoE object */)
    \return 1 if the device is "up", 0 if it is "down"
 */
 
-unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE object */)
+unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
 {
-    return eoe->opened;
+    return eoe->slave && eoe->opened;
 }
 
 /*****************************************************************************/
 
 /**
-   Prints EoE object information.
+   Prints EoE handler information.
 */
 
-void ec_eoe_print(const ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_print(const ec_eoe_t *eoe /**< EoE handler */)
 {
-    EC_INFO("  EoE slave %i\n", eoe->slave->ring_position);
-    EC_INFO("    Assigned device: %s (%s)\n", eoe->dev->name,
-            eoe->opened ? "opened" : "closed");
+    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");
 }
 
 /******************************************************************************
@@ -305,7 +306,7 @@ void ec_eoe_print(const ec_eoe_t *eoe /**< EoE object */)
    slave's mailbox for a new command.
 */
 
-void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
 {
     ec_slave_mbox_prepare_check(eoe->slave);
     ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
@@ -320,7 +321,7 @@ void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE object */)
    command, if new data is available.
 */
 
-void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE object */)
+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++;
@@ -346,7 +347,7 @@ void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE object */)
    EoE command.
 */
 
-void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE object */)
+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;
@@ -486,7 +487,7 @@ void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE object */)
    sequence is started instead.
 */
 
-void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */)
 {
 #if EOE_DEBUG_LEVEL > 0
     unsigned int wakeup;
@@ -546,7 +547,7 @@ void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE object */)
    fragment, if necessary.
 */
 
-void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE object */)
+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++;
@@ -595,7 +596,12 @@ int ec_eoedev_open(struct net_device *dev /**< EoE net_device */)
     eoe->opened = 1;
     netif_start_queue(dev);
     eoe->tx_queue_active = 1;
-    EC_INFO("%s (slave %i) opened.\n", dev->name, eoe->slave->ring_position);
+    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;
+    }
     return 0;
 }
 
@@ -612,7 +618,12 @@ int ec_eoedev_stop(struct net_device *dev /**< EoE net_device */)
     eoe->tx_queue_active = 0;
     eoe->opened = 0;
     ec_eoe_flush(eoe);
-    EC_INFO("%s (slave %i) stopped.\n", dev->name, eoe->slave->ring_position);
+    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;
+    }
     return 0;
 }
 

master/ethernet.h

@@ -64,7 +64,7 @@ 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.
 */
@@ -93,7 +93,7 @@ struct ec_eoe
 
 /*****************************************************************************/
 
-int 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 *);

master/fsm.h

@@ -76,6 +76,9 @@ struct ec_fsm
     void (*sii_state)(ec_fsm_t *); /**< SII state function */
     uint16_t sii_offset; /**< input: offset in SII */
     uint32_t sii_result; /**< output: read SII value (32bit) */
+
+    void (*change_state)(ec_fsm_t *); /**< slave state change state function */
+    uint8_t change_new; /**< input: new state */
 };
 
 /*****************************************************************************/
@@ -84,7 +87,6 @@ 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 *);
-int ec_fsm_idle(const ec_fsm_t *);
 
 /*****************************************************************************/
 

master/globals.h

@@ -115,6 +115,7 @@
 
 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);
 
 /*****************************************************************************/
 

master/master.c

@@ -56,7 +56,7 @@
 /*****************************************************************************/
 
 void ec_master_freerun(void *);
-void ec_master_run_eoe(unsigned long);
+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 *);
 
@@ -94,17 +94,14 @@ static struct kobj_type ktype_ec_master = {
 */
 
 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_INFO("Initializing master %i.\n", index);
-
-    if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {
-        EC_ERR("Failed to create master workqueue.\n");
-        goto out_return;
-    }
+    ec_eoe_t *eoe, *next_eoe;
+    unsigned int i;
 
-    if (ec_fsm_init(&master->fsm, master)) goto out_free_wq;
+    EC_INFO("Initializing master %i.\n", index);
 
     master->index = index;
     master->device = NULL;
@@ -112,12 +109,36 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     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_run_eoe;
+    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));
@@ -132,7 +153,12 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     ec_master_reset(master);
     return 0;
 
- out_free_wq:
+ 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;
@@ -149,6 +175,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
 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);
 
@@ -157,6 +184,13 @@ void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
     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);
@@ -177,14 +211,9 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
 {
     ec_command_t *command, *next_c;
     ec_domain_t *domain, *next_d;
-    ec_eoe_t *eoe, *next_eoe;
-
-    // stop EoE processing
-    del_timer_sync(&master->eoe_timer);
 
-    // stop free-run mode
+    ec_master_eoe_stop(master);
     ec_master_freerun_stop(master);
-
     ec_master_clear_slaves(master);
 
     // empty command queue
@@ -200,13 +229,6 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
         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
@@ -674,6 +696,8 @@ void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
 {
     if (master->mode != EC_MASTER_MODE_FREERUN) return;
 
+    ec_master_eoe_stop(master);
+
     EC_INFO("Stopping Free-Run mode.\n");
 
     if (!cancel_delayed_work(&master->freerun_work)) {
@@ -693,18 +717,21 @@ void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
 void ec_master_freerun(void *data /**< master pointer */)
 {
     ec_master_t *master = (ec_master_t *) data;
-    unsigned long delay;
+
+    // aquire master lock
+    spin_lock_bh(&master->internal_lock);
 
     ecrt_master_async_receive(master);
 
-    // execute freerun state machine
+    // execute master state machine
     ec_fsm_execute(&master->fsm);
 
     ecrt_master_async_send(master);
 
-    delay = HZ / 100;
-    if (ec_fsm_idle(&master->fsm)) delay = HZ;
-    queue_delayed_work(master->workqueue, &master->freerun_work, delay);
+    // release master lock
+    spin_unlock_bh(&master->internal_lock);
+
+    queue_delayed_work(master->workqueue, &master->freerun_work, HZ / 100);
 }
 
 /*****************************************************************************/
@@ -798,32 +825,131 @@ ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
 
 /*****************************************************************************/
 
+/**
+   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;
+        }
+
+        if (!found) {
+            EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
+            slave->requested_state = EC_SLAVE_STATE_INIT;
+        }
+    }
+
+    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 = NULL;
+        }
+    }
+
+    master->eoe_running = 0;
+}
+
+/*****************************************************************************/
+
 /**
    Does the Ethernet-over-EtherCAT processing.
 */
 
-void ec_master_run_eoe(unsigned long data /**< master pointer */)
+void ec_master_eoe_run(unsigned long data /**< master pointer */)
 {
     ec_master_t *master = (ec_master_t *) data;
     ec_eoe_t *eoe;
     unsigned int active = 0;
 
-    list_for_each_entry(eoe, &master->eoe_slaves, list) {
+    list_for_each_entry(eoe, &master->eoe_handlers, list) {
         if (ec_eoe_active(eoe)) active++;
     }
+    if (!active) goto queue_timer;
 
-    // request_cb must return 0, if the lock has been aquired!
-    if (active && !master->request_cb(master->cb_data))
-    {
-        ecrt_master_async_receive(master);
-        list_for_each_entry(eoe, &master->eoe_slaves, list) {
-            ec_eoe_run(eoe);
-        }
-        ecrt_master_async_send(master);
+    // 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);
 }
@@ -1404,37 +1530,12 @@ void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
 
 int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
 {
-    ec_eoe_t *eoe;
-    ec_slave_t *slave;
-
     if (!master->request_cb || !master->release_cb) {
         EC_ERR("EoE requires master callbacks to be set!\n");
         return -1;
     }
 
-    list_for_each_entry(slave, &master->slaves, list) {
-        // does the slave support EoE?
-        if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
-
-        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
-            EC_ERR("Failed to allocate EoE-Object.\n");
-            return -1;
-        }
-        if (ec_eoe_init(eoe, slave)) {
-            kfree(eoe);
-            return -1;
-        }
-        list_add_tail(&eoe->list, &master->eoe_slaves);
-    }
-
-    if (list_empty(&master->eoe_slaves)) {
-        EC_WARN("start_eoe: no EoE-capable slaves present.\n");
-        return 0;
-    }
-
-    // start EoE processing
-    master->eoe_timer.expires = jiffies + 10;
-    add_timer(&master->eoe_timer);
+    ec_master_eoe_start(master);
     return 0;
 }
 
@@ -1482,9 +1583,9 @@ void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */
         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);
         }
     }

master/master.h

@@ -116,7 +116,9 @@ struct ec_master
     ec_master_mode_t mode; /**< master mode */
 
     struct timer_list eoe_timer; /** EoE timer object */
-    struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
+    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 */
@@ -125,7 +127,7 @@ struct ec_master
 /*****************************************************************************/
 
 // 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 *);
 
@@ -133,6 +135,10 @@ void ec_master_reset(ec_master_t *);
 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 *);
@@ -143,6 +149,9 @@ 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 *);
 
 /*****************************************************************************/

master/module.c

@@ -67,19 +67,22 @@ void __exit ec_cleanup_module(void);
 /*****************************************************************************/
 
 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 */
 
@@ -114,7 +117,7 @@ int __init ec_init_module(void)
             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)) {
@@ -228,6 +231,41 @@ void ec_print_data_diff(const uint8_t *d1, /**< first data */
     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
  *****************************************************************************/

master/slave.c

@@ -48,6 +48,10 @@
 
 /*****************************************************************************/
 
+extern const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
 int ec_slave_fetch_categories(ec_slave_t *);
 ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
 
@@ -89,10 +93,6 @@ static struct kobj_type ktype_ec_slave = {
 
 /*****************************************************************************/
 
-const ec_code_msg_t al_status_messages[];
-
-/*****************************************************************************/
-
 /**
    Slave constructor.
    \return 0 in case of success, else < 0
@@ -144,6 +144,9 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
     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;
 
     ec_command_init(&slave->mbox_command);
 
@@ -1261,32 +1264,6 @@ ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
     return 0;
 }
 
-/*****************************************************************************/
-
-/**
-   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"},
-    {}
-};
-
 /******************************************************************************
  *  Realtime interface
  *****************************************************************************/

master/slave.h

@@ -272,6 +272,10 @@ struct ec_slave
     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 */
 };
 
 /*****************************************************************************/

script/ethercat.sh

@@ -73,6 +73,10 @@ case "$1" in
 	    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
@@ -83,7 +87,17 @@ case "$1" in
 		fi
 	done
 
-	modprobe ec_8139too ec_device_index=$DEVICE_INDEX
+	if ! modprobe ec_master ec_eoe_devices=$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
 	;;

script/sysconfig

@@ -13,7 +13,7 @@
 #DEVICE_INDEX=99
 
 #
-#  Number of Ethernet-over-EtherCAT devices the master shall create
+#  Number of Ethernet-over-EtherCAT devices every master shall create
 #  on startup. Default is 0.
 #
 #EOE_DEVICES=0