diff --git a/configure.ac b/configure.ac
index f7d67f0eae9c6a05bd4fc8c7bc085a53de6e4c5a..67c0ae7dfbaea67d9148b4f4f3be9e1a6410b185 100644
--- a/configure.ac
+++ b/configure.ac
@@ -413,6 +413,31 @@ AC_ARG_ENABLE([dummy],
AM_CONDITIONAL(ENABLE_DUMMY, test "x$dummy" = "x1")
+#------------------------------------------------------------------------------
+# Ethernet-over-EtherCAT support
+#------------------------------------------------------------------------------
+
+AC_ARG_ENABLE([eoe],
+ AS_HELP_STRING([--enable-eoe],
+ [Enable EoE support (default: yes)]),
+ [
+ case "${enableval}" in
+ yes) eoe=1
+ ;;
+ no) eoe=0
+ ;;
+ *) AC_MSG_ERROR([Invalid value for --enable-eoe])
+ ;;
+ esac
+ ],
+ [eoe=1]
+)
+
+if test "x${eoe}" = "x1"; then
+ AC_DEFINE([EC_EOE], [1], [EoE support enabled])
+fi
+AM_CONDITIONAL(ENABLE_EOE, test "x$eoe" = "x1")
+
#------------------------------------------------------------------------------
# Create config.kbuild
@@ -433,6 +458,7 @@ RTAI_DIR := "${rtaidir}"
MSR_DIR := "${msrdir}"
ENABLE_DEBUG_IF := ${dbg}
ENABLE_DUMMY := ${dummy}
+ENABLE_EOE := ${eoe}
EOF
#------------------------------------------------------------------------------
diff --git a/master/Kbuild b/master/Kbuild
index 8c50d05fc0e5e47c54b7afcc1a4dce959addb361..93aa0d7564efcbd153880a3aa36c07edaf751134 100644
--- a/master/Kbuild
+++ b/master/Kbuild
@@ -36,9 +36,12 @@ include $(src)/../config.kbuild
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu.o slave.o \
- datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
+ datagram.o domain.o mailbox.o canopen.o fsm_sii.o fsm_change.o \
fsm_coe.o fsm_mapping.o fsm_slave.o fsm_master.o xmldev.o
+ifeq ($(ENABLE_EOE),1)
+ ec_master-objs += ethernet.o
+endif
ifeq ($(ENABLE_DEBUG_IF),1)
ec_master-objs += debug.o
endif
diff --git a/master/fsm_master.c b/master/fsm_master.c
index ef72d8f77b2476dacbe3167b3183dfb0d3f1294f..df5a5b25764aebfeefb4dafd123c109ea0c31ab3 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -41,7 +41,9 @@
#include "globals.h"
#include "master.h"
#include "mailbox.h"
+#ifdef EC_EOE
#include "ethernet.h"
+#endif
#include "fsm_master.h"
/*****************************************************************************/
@@ -238,8 +240,10 @@ void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machin
fsm->idle = 0;
fsm->scan_jiffies = jiffies;
+#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
+#endif
ec_master_destroy_slaves(master);
master->slave_count = datagram->working_counter;
@@ -812,6 +816,7 @@ void ec_fsm_master_state_scan_slaves(
if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
return;
+#ifdef EC_EOE
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
// create EoE handler for this slave
ec_eoe_t *eoe;
@@ -828,6 +833,7 @@ void ec_fsm_master_state_scan_slaves(
list_add_tail(&eoe->list, &master->eoe_handlers);
}
}
+#endif
// another slave to fetch?
if (slave->list.next != &master->slaves) {
@@ -841,7 +847,9 @@ void ec_fsm_master_state_scan_slaves(
(u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
// check if EoE processing has to be started
+#ifdef EC_EOE
ec_master_eoe_start(master);
+#endif
master->scan_state = EC_REQUEST_COMPLETE;
wake_up_interruptible(&master->scan_queue);
diff --git a/master/master.c b/master/master.c
index a0b787b45fa13b40cf5c635000a833caeaf057a4..690340bddc3b9e948aae064fcbbb786dc9fc49ab 100644
--- a/master/master.c
+++ b/master/master.c
@@ -50,7 +50,9 @@
#include "slave.h"
#include "device.h"
#include "datagram.h"
+#ifdef EC_EOE
#include "ethernet.h"
+#endif
/*****************************************************************************/
@@ -58,7 +60,9 @@ void ec_master_destroy_domains(ec_master_t *);
void ec_master_sync_io(ec_master_t *);
static int ec_master_idle_thread(ec_master_t *);
static int ec_master_operation_thread(ec_master_t *);
+#ifdef EC_EOE
void ec_master_eoe_run(unsigned long);
+#endif
void ec_master_check_sdo(unsigned long);
int ec_master_measure_bus_time(ec_master_t *);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
@@ -145,9 +149,12 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
for (i = 0; i < HZ; i++) {
master->idle_cycle_times[i] = 0;
+#ifdef EC_EOE
master->eoe_cycle_times[i] = 0;
+#endif
}
master->idle_cycle_time_pos = 0;
+#ifdef EC_EOE
master->eoe_cycle_time_pos = 0;
init_timer(&master->eoe_timer);
@@ -155,6 +162,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->eoe_timer.data = (unsigned long) master;
master->eoe_running = 0;
INIT_LIST_HEAD(&master->eoe_handlers);
+#endif
master->internal_lock = SPIN_LOCK_UNLOCKED;
master->request_cb = NULL;
@@ -228,7 +236,9 @@ void ec_master_clear(
ec_master_t *master /**< EtherCAT master */
)
{
+#ifdef EC_EOE
ec_master_clear_eoe_handlers(master);
+#endif
ec_master_destroy_slaves(master);
ec_master_destroy_domains(master);
ec_fsm_master_clear(&master->fsm);
@@ -243,6 +253,7 @@ void ec_master_clear(
/*****************************************************************************/
+#ifdef EC_EOE
/**
* Clear and free all EoE handlers.
*/
@@ -259,6 +270,7 @@ void ec_master_clear_eoe_handlers(
kfree(eoe);
}
}
+#endif
/*****************************************************************************/
@@ -394,7 +406,9 @@ void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
master->mode = EC_MASTER_MODE_ORPHANED;
+#ifdef EC_EOE
ec_master_eoe_stop(master);
+#endif
ec_master_thread_stop(master);
ec_master_destroy_slaves(master);
}
@@ -408,7 +422,9 @@ void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
+#ifdef EC_EOE
ec_eoe_t *eoe;
+#endif
down(&master->config_sem);
master->allow_config = 0; // temporarily disable slave configuration
@@ -442,11 +458,13 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
+#ifdef EC_EOE
// ... but set EoE slaves to 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
if (master->debug_level)
EC_DBG("Switching to operation mode.\n");
@@ -475,11 +493,15 @@ void ec_master_leave_operation_mode(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
+#ifdef EC_EOE
ec_eoe_t *eoe;
+#endif
master->mode = EC_MASTER_MODE_IDLE;
+#ifdef EC_EOE
ec_master_eoe_stop(master);
+#endif
ec_master_thread_stop(master);
master->request_cb = ec_master_request_cb;
@@ -491,17 +513,21 @@ void ec_master_leave_operation_mode(ec_master_t *master
ec_slave_reset(slave);
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
+#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
ec_master_destroy_domains(master);
if (ec_master_thread_start(master, ec_master_idle_thread))
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;
@@ -941,7 +967,9 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
)
{
off_t off = 0;
+#ifdef EC_EOE
ec_eoe_t *eoe;
+#endif
uint32_t cur, sum, min, max, pos, i;
off += sprintf(buffer + off, "\nMode: ");
@@ -990,6 +1018,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
off += sprintf(buffer + off, " Idle cycle: %u / %u.%u / %u\n",
min, sum / HZ, (sum * 100 / HZ) % 100, max);
+#ifdef EC_EOE
sum = 0;
min = 0xFFFFFFFF;
max = 0;
@@ -1010,6 +1039,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
}
+#endif
off += sprintf(buffer + off, "\n");
@@ -1079,6 +1109,7 @@ ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
+#ifdef EC_EOE
/**
Starts Ethernet-over-EtherCAT processing on demand.
*/
@@ -1136,6 +1167,7 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
cycles_t cycles_start, cycles_end;
unsigned long restart_jiffies;
+
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
@@ -1173,6 +1205,7 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
master->eoe_timer.expires += restart_jiffies;
add_timer(&master->eoe_timer);
}
+#endif
/*****************************************************************************/
@@ -1435,7 +1468,9 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
}
// restart EoE process and master thread with new locking
+#ifdef EC_EOE
ec_master_eoe_stop(master);
+#endif
ec_master_thread_stop(master);
ec_master_prepare(master); // prepare asynchronous IO
@@ -1453,7 +1488,9 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
EC_ERR("Failed to start master thread!\n");
return -1;
}
+#ifdef EC_EOE
ec_master_eoe_start(master);
+#endif
return 0;
}
diff --git a/master/master.h b/master/master.h
index 11b51325e50d03162cde3239d00081c3db273797..31c31f51346b5ab29cb9d3c58079ba9004e8cf96 100644
--- a/master/master.h
+++ b/master/master.h
@@ -145,11 +145,13 @@ struct ec_master
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 */
@@ -185,9 +187,11 @@ 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 *);
+#ifdef EC_EOE
// EoE
void ec_master_eoe_start(ec_master_t *);
void ec_master_eoe_stop(ec_master_t *);
+#endif
// datagram IO
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
@@ -195,7 +199,9 @@ void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
// misc.
void ec_master_output_stats(ec_master_t *);
+#ifdef EC_EOE
void ec_master_clear_eoe_handlers(ec_master_t *);
+#endif
void ec_master_destroy_slaves(ec_master_t *);
/*****************************************************************************/