diff --git a/examples/dc_rtai/dc_rtai_sample.c b/examples/dc_rtai/dc_rtai_sample.c
index 94f4c1cae54a2999bea32c83651df0dbd22782e4..5e40a480cfc957c5cf9fbb7baab58ec8b221b8cb 100644
--- a/examples/dc_rtai/dc_rtai_sample.c
+++ b/examples/dc_rtai/dc_rtai_sample.c
@@ -238,24 +238,28 @@ void run(long data)
/*****************************************************************************/
-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 @@ int __init init_mod(void)
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))) {
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index f5bd27c177fec355998aa6ca18ac83550a10c4a3..69d96e2522b213b8f4429ea623d056d7466fd429 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -354,19 +354,21 @@ void cyclic_task(unsigned long data)
/*****************************************************************************/
-void send_callback(ec_master_t *master)
+void send_callback(void *cb_data)
{
+ ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
- ecrt_master_send_ext(master);
+ ecrt_master_send_ext(m);
up(&master_sem);
}
/*****************************************************************************/
-void receive_callback(ec_master_t *master)
+void receive_callback(void *cb_data)
{
+ ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
- ecrt_master_receive(master);
+ ecrt_master_receive(m);
up(&master_sem);
}
@@ -392,7 +394,7 @@ int __init init_mini_module(void)
}
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))) {
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index 2b804dd9e330444ccaa6c2e229feca3b57bc0012..eb31b78c9523ed5f89f95dcdf224fa6f1d57ac2b 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -243,24 +243,28 @@ void run(long data)
/*****************************************************************************/
-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 @@ int __init init_mod(void)
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))) {
diff --git a/include/ecrt.h b/include/ecrt.h
index 259d9f444c30a17541fe806ac9624960c2bcceeb..1c269d9bc840cc1b5d935bbd607f3b643776c318 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -477,8 +477,10 @@ int ecrt_master_reserve(
*/
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__ */
diff --git a/master/cdev.c b/master/cdev.c
index 57e7bf33078157b267e6ce6749a95c53a8b8200e..0acf642d19168745ba0e222e2ca31e970065d60e 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1622,7 +1622,7 @@ int ec_cdev_ioctl_activate(
}
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)
diff --git a/master/master.c b/master/master.c
index cf7e442f5436a6b25644c07f221db45b519a6a80..952c1e169267d186b6c7b980fcb94f61ade0eff1 100644
--- a/master/master.c
+++ b/master/master.c
@@ -168,8 +168,10 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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 @@ void ec_master_clear_domains(ec_master_t *master)
/** 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 @@ void ec_master_internal_send_cb(
/** 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 @@ int ec_master_enter_idle_phase(
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 @@ int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
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 @@ void ec_master_leave_operation_phase(ec_master_t *master
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 @@ static int ec_master_eoe_thread(void *priv_data)
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 @@ static int ec_master_eoe_thread(void *priv_data)
}
// (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 @@ int ecrt_master_activate(ec_master_t *master)
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 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
/*****************************************************************************/
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;
}
/*****************************************************************************/
diff --git a/master/master.h b/master/master.h
index f5832d2ec649c9f12ef095350879d04cbdb5cbc1..225ccbb0530bb8fa556e83719edd606964aeee37 100644
--- a/master/master.h
+++ b/master/master.h
@@ -166,12 +166,14 @@ struct ec_master {
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
@@ -247,8 +249,8 @@ ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
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 *);
+void ec_master_internal_send_cb(void *);
+void ec_master_internal_receive_cb(void *);
/*****************************************************************************/