From 79dcd62ac47e920aa0f60ec6228ca226182302bf Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 25 Sep 2006 15:53:33 +0000
Subject: [PATCH] Moved doc into trunk
---
doc/Makefile | 107 +
doc/ethercat_doc.tex | 5037 ++++++++++++++++++++++++++++++++++
doc/images/ethercat.eps | 1617 +++++++++++
doc/images/ethercat.pdf | Bin 0 -> 2405 bytes
doc/images/fmmus.eps | 941 +++++++
doc/images/fmmus.fig | 223 ++
doc/images/fmmus.pdf | Bin 0 -> 31022 bytes
doc/images/fsm-change.eps | 424 +++
doc/images/fsm-change.fig | 101 +
doc/images/fsm-change.pdf | Bin 0 -> 6686 bytes
doc/images/fsm-coedown.eps | 319 +++
doc/images/fsm-coedown.fig | 79 +
doc/images/fsm-coedown.pdf | Bin 0 -> 4305 bytes
doc/images/fsm-eoe.eps | 282 ++
doc/images/fsm-eoe.fig | 65 +
doc/images/fsm-eoe.pdf | Bin 0 -> 4068 bytes
doc/images/fsm-idle.eps | 479 ++++
doc/images/fsm-idle.fig | 110 +
doc/images/fsm-idle.pdf | Bin 0 -> 7642 bytes
doc/images/fsm-op.eps | 524 ++++
doc/images/fsm-op.fig | 116 +
doc/images/fsm-op.pdf | Bin 0 -> 9001 bytes
doc/images/fsm-sii.eps | 376 +++
doc/images/fsm-sii.fig | 106 +
doc/images/fsm-sii.pdf | Bin 0 -> 4799 bytes
doc/images/fsm-slaveconf.eps | 567 ++++
doc/images/fsm-slaveconf.fig | 132 +
doc/images/fsm-slaveconf.pdf | Bin 0 -> 9093 bytes
doc/images/fsm-slavescan.eps | 414 +++
doc/images/fsm-slavescan.fig | 104 +
doc/images/fsm-slavescan.pdf | Bin 0 -> 5867 bytes
doc/images/ighsign.eps | 183 ++
doc/images/ighsign.pdf | Bin 0 -> 2754 bytes
doc/images/interrupt.eps | 635 +++++
doc/images/interrupt.fig | 85 +
doc/images/interrupt.pdf | Bin 0 -> 4219 bytes
doc/images/master-locks.eps | 254 ++
doc/images/master-locks.fig | 54 +
doc/images/master-locks.pdf | Bin 0 -> 3795 bytes
doc/images/masterarch.eps | 432 +++
doc/images/masterarch.fig | 156 ++
doc/images/masterarch.pdf | Bin 0 -> 3828 bytes
doc/images/masters.eps | 140 +
doc/images/masters.fig | 23 +
doc/images/masters.pdf | Bin 0 -> 1546 bytes
doc/images/modes.eps | 254 ++
doc/images/modes.fig | 50 +
doc/images/modes.pdf | Bin 0 -> 3305 bytes
doc/images/statetrans.eps | 287 ++
doc/images/statetrans.fig | 52 +
doc/images/statetrans.pdf | Bin 0 -> 4550 bytes
doc/images/uml-all.eps | 539 ++++
doc/images/uml-all.fig | 264 ++
doc/images/uml-all.pdf | Bin 0 -> 3070 bytes
doc/images/uml-datagram.eps | 179 ++
doc/images/uml-datagram.fig | 38 +
doc/images/uml-datagram.pdf | Bin 0 -> 1466 bytes
doc/images/uml-debug.eps | 134 +
doc/images/uml-debug.fig | 23 +
doc/images/uml-debug.pdf | 75 +
doc/images/uml-device.eps | 167 ++
doc/images/uml-device.fig | 34 +
doc/images/uml-device.pdf | Bin 0 -> 1484 bytes
doc/images/uml-domain.eps | 220 ++
doc/images/uml-domain.fig | 39 +
doc/images/uml-domain.pdf | Bin 0 -> 1628 bytes
doc/images/uml-eoe.eps | 259 ++
doc/images/uml-eoe.fig | 52 +
doc/images/uml-eoe.pdf | Bin 0 -> 1694 bytes
doc/images/uml-fsm.eps | 382 +++
doc/images/uml-fsm.fig | 93 +
doc/images/uml-fsm.pdf | Bin 0 -> 1991 bytes
doc/images/uml-master.eps | 303 ++
doc/images/uml-master.fig | 69 +
doc/images/uml-master.pdf | Bin 0 -> 1997 bytes
doc/images/uml-slave.eps | 357 +++
doc/images/uml-slave.fig | 89 +
doc/images/uml-slave.pdf | 81 +
doc/svn.sty | 79 +
79 files changed, 18204 insertions(+)
create mode 100644 doc/Makefile
create mode 100644 doc/ethercat_doc.tex
create mode 100644 doc/images/ethercat.eps
create mode 100644 doc/images/ethercat.pdf
create mode 100644 doc/images/fmmus.eps
create mode 100644 doc/images/fmmus.fig
create mode 100644 doc/images/fmmus.pdf
create mode 100644 doc/images/fsm-change.eps
create mode 100644 doc/images/fsm-change.fig
create mode 100644 doc/images/fsm-change.pdf
create mode 100644 doc/images/fsm-coedown.eps
create mode 100644 doc/images/fsm-coedown.fig
create mode 100644 doc/images/fsm-coedown.pdf
create mode 100644 doc/images/fsm-eoe.eps
create mode 100644 doc/images/fsm-eoe.fig
create mode 100644 doc/images/fsm-eoe.pdf
create mode 100644 doc/images/fsm-idle.eps
create mode 100644 doc/images/fsm-idle.fig
create mode 100644 doc/images/fsm-idle.pdf
create mode 100644 doc/images/fsm-op.eps
create mode 100644 doc/images/fsm-op.fig
create mode 100644 doc/images/fsm-op.pdf
create mode 100644 doc/images/fsm-sii.eps
create mode 100644 doc/images/fsm-sii.fig
create mode 100644 doc/images/fsm-sii.pdf
create mode 100644 doc/images/fsm-slaveconf.eps
create mode 100644 doc/images/fsm-slaveconf.fig
create mode 100644 doc/images/fsm-slaveconf.pdf
create mode 100644 doc/images/fsm-slavescan.eps
create mode 100644 doc/images/fsm-slavescan.fig
create mode 100644 doc/images/fsm-slavescan.pdf
create mode 100644 doc/images/ighsign.eps
create mode 100644 doc/images/ighsign.pdf
create mode 100644 doc/images/interrupt.eps
create mode 100644 doc/images/interrupt.fig
create mode 100644 doc/images/interrupt.pdf
create mode 100644 doc/images/master-locks.eps
create mode 100644 doc/images/master-locks.fig
create mode 100644 doc/images/master-locks.pdf
create mode 100644 doc/images/masterarch.eps
create mode 100644 doc/images/masterarch.fig
create mode 100644 doc/images/masterarch.pdf
create mode 100644 doc/images/masters.eps
create mode 100644 doc/images/masters.fig
create mode 100644 doc/images/masters.pdf
create mode 100644 doc/images/modes.eps
create mode 100644 doc/images/modes.fig
create mode 100644 doc/images/modes.pdf
create mode 100644 doc/images/statetrans.eps
create mode 100644 doc/images/statetrans.fig
create mode 100644 doc/images/statetrans.pdf
create mode 100644 doc/images/uml-all.eps
create mode 100644 doc/images/uml-all.fig
create mode 100644 doc/images/uml-all.pdf
create mode 100644 doc/images/uml-datagram.eps
create mode 100644 doc/images/uml-datagram.fig
create mode 100644 doc/images/uml-datagram.pdf
create mode 100644 doc/images/uml-debug.eps
create mode 100644 doc/images/uml-debug.fig
create mode 100644 doc/images/uml-debug.pdf
create mode 100644 doc/images/uml-device.eps
create mode 100644 doc/images/uml-device.fig
create mode 100644 doc/images/uml-device.pdf
create mode 100644 doc/images/uml-domain.eps
create mode 100644 doc/images/uml-domain.fig
create mode 100644 doc/images/uml-domain.pdf
create mode 100644 doc/images/uml-eoe.eps
create mode 100644 doc/images/uml-eoe.fig
create mode 100644 doc/images/uml-eoe.pdf
create mode 100644 doc/images/uml-fsm.eps
create mode 100644 doc/images/uml-fsm.fig
create mode 100644 doc/images/uml-fsm.pdf
create mode 100644 doc/images/uml-master.eps
create mode 100644 doc/images/uml-master.fig
create mode 100644 doc/images/uml-master.pdf
create mode 100644 doc/images/uml-slave.eps
create mode 100644 doc/images/uml-slave.fig
create mode 100644 doc/images/uml-slave.pdf
create mode 100644 doc/svn.sty
diff --git a/doc/Makefile b/doc/Makefile
new file mode 100644
index 00000000..be8d4a5f
--- /dev/null
+++ b/doc/Makefile
@@ -0,0 +1,107 @@
+#------------------------------------------------------------------------------
+#
+# LaTeX Makefile
+#
+# $Id$
+#
+#------------------------------------------------------------------------------
+
+FILE := ethercat_doc
+
+DVI_DEPEND := images/*.eps
+PDF_DEPEND := images/*.pdf
+
+LATEX_OPTIONS := -file-line-error-style
+
+LATEX_CMD := latex $(LATEX_OPTIONS) \\nonstopmode\\input{$(FILE).tex}
+PDFLATEX_CMD := pdflatex $(LATEX_OPTIONS) $(FILE)
+
+#------------------------------------------------------------------------------
+
+dvi: $(FILE).dvi
+
+pdf: $(FILE).pdf
+
+all: dvi pdf
+
+$(FILE).dvi: $(FILE).tex $(DVI_DEPEND)
+ @if [ ! -f $(FILE).toc ]; then touch $(FILE).toc; fi
+ @if [ ! -f $(FILE).idx ]; then touch $(FILE).idx; fi
+ @if [ ! -f $(FILE).glo ]; then touch $(FILE).glo; fi
+ @cp $(FILE).toc $(FILE).toc.bak
+ @cp $(FILE).idx $(FILE).idx.bak
+ @cp $(FILE).glo $(FILE).glo.bak
+ $(LATEX_CMD)
+ @count=5; \
+ while (grep -s 'cross-references' $(FILE).log || \
+ ! diff -q $(FILE).toc $(FILE).toc.bak) && \
+ [ $$count -gt 0 ]; \
+ do \
+ cp $(FILE).toc $(FILE).toc.bak; \
+ $(LATEX_CMD); \
+ count=`expr $$count - 1`; \
+ done
+ @rerunlatex=0
+ @if ! diff -q $(FILE).idx $(FILE).idx.bak; then \
+ echo "Rebuilding Index"; \
+ makeindex $(FILE); \
+ rerunlatex=1; \
+ fi
+ @if ! diff -q $(FILE).glo $(FILE).glo.bak; then \
+ echo "Rebuilding Glossary"; \
+ makeindex $(FILE).glo -s nomencl.ist -o $(FILE).gls; \
+ rerunlatex=1; \
+ fi
+ @if [ ! $$rerunlatex ]; then \
+ echo "Re-running LaTeX..."; \
+ $(LATEX_CMD); \
+ fi
+ @rm -f $(FILE).toc.bak
+ @rm -f $(FILE).idx.bak
+ @rm -f $(FILE).glo.bak
+
+$(FILE).pdf: $(FILE).tex $(PDF_DEPEND)
+ @if [ ! -f $(FILE).toc ]; then touch $(FILE).toc; fi
+ @if [ ! -f $(FILE).idx ]; then touch $(FILE).idx; fi
+ @if [ ! -f $(FILE).glo ]; then touch $(FILE).glo; fi
+ @cp $(FILE).toc $(FILE).toc.bak
+ @cp $(FILE).idx $(FILE).idx.bak
+ @cp $(FILE).glo $(FILE).glo.bak
+ $(PDFLATEX_CMD)
+ @count=5; \
+ while (grep -s 'cross-references' $(FILE).log || \
+ ! diff -q $(FILE).toc $(FILE).toc.bak) && \
+ [ $$count -gt 0 ]; \
+ do \
+ cp $(FILE).toc $(FILE).toc.bak; \
+ $(PDFLATEX_CMD); \
+ count=`expr $$count - 1`; \
+ done
+ @rerunlatex=0
+ @if ! diff -q $(FILE).idx $(FILE).idx.bak; then \
+ echo "Rebuilding Index"; \
+ makeindex $(FILE); \
+ rerunlatex=1; \
+ fi
+ @if ! diff -q $(FILE).glo $(FILE).glo.bak; then \
+ echo "Rebuilding Glossary"; \
+ makeindex $(FILE).glo -s nomencl.ist -o $(FILE).gls; \
+ rerunlatex=1; \
+ fi
+ @if [ ! $$rerunlatex ]; then \
+ echo "Re-running LaTeX..."; \
+ $(PDFLATEX_CMD); \
+ fi
+ @rm -f $(FILE).toc.bak
+ @rm -f $(FILE).idx.bak
+ @rm -f $(FILE).glo.bak
+
+clean:
+ @rm -f $(FILE).aux $(FILE).dvi $(FILE).idx \
+ $(FILE).ilg $(FILE).ind $(FILE).log \
+ $(FILE).out $(FILE).pdf $(FILE).ps \
+ $(FILE).toc $(FILE).lot $(FILE).lof \
+ $(FILE).lol $(FILE).glo $(FILE).gls \
+ images/*.bak *~
+
+#------------------------------------------------------------------------------
diff --git a/doc/ethercat_doc.tex b/doc/ethercat_doc.tex
new file mode 100644
index 00000000..3b777827
--- /dev/null
+++ b/doc/ethercat_doc.tex
@@ -0,0 +1,5037 @@
+%------------------------------------------------------------------------------
+%
+% IgH EtherCAT Master Documentation
+%
+% $Id$
+%
+%------------------------------------------------------------------------------
+
+\documentclass[a4paper,12pt,BCOR6mm,bibtotoc,idxtotoc]{scrbook}
+
+\usepackage[latin1]{inputenc}
+\usepackage[automark,headsepline]{scrpage2}
+\usepackage{graphicx}
+\usepackage{makeidx}
+\usepackage[refpage]{nomencl}
+\usepackage{listings}
+\usepackage{svn}
+\usepackage{textcomp}
+\usepackage{url}
+\usepackage{hyperref}
+
+\setlength{\parskip}{0.8ex plus 0.8ex minus 0.5ex}
+\setlength{\parindent}{0mm}
+
+\setcounter{secnumdepth}{\subsubsectionlevel}
+
+\DeclareFontShape{OT1}{cmtt}{bx}{n}
+{
+ <5><6><7><8><9><10><10.95><12><14.4><17.28><20.74><24.88>cmttb10
+}{}
+
+\lstset{basicstyle=\ttfamily\small,numberstyle=\tiny,aboveskip=4mm,
+ belowskip=2mm,gobble=2,escapechar=`}
+\renewcommand\lstlistlistingname{List of Listings}
+
+\renewcommand\nomname{Glossary}
+
+\newcommand{\IgH}{\raisebox{-0.7667ex}
+ {\includegraphics[height=2.2ex]{images/ighsign}}}
+
+\SVN $Date$
+\SVN $Revision$
+
+\makeindex
+\makeglossary
+
+%------------------------------------------------------------------------------
+
+\begin{document}
+
+\pagenumbering{roman}
+\pagestyle{empty}
+
+\begin{titlepage}
+ \begin{center}
+ \rule{\textwidth}{1.5mm}
+
+ {\Huge\bf IgH \includegraphics[height=2.4ex]{images/ethercat}
+ Master 1.1\\[1ex]
+ Documentation}
+
+ \vspace{1ex}
+ \rule{\textwidth}{1.5mm}
+
+ \vspace{\fill}
+ {\Large Florian Pose, \url{fp@igh-essen.com}\\[1ex]
+ Ingenieurgemeinschaft \IgH}
+
+ \vspace{\fill}
+ {\Large Essen, \SVNDate\\[1ex]
+ Revision \SVNRevision}
+ \end{center}
+\end{titlepage}
+
+%------------------------------------------------------------------------------
+
+\tableofcontents
+\listoftables
+\listoffigures
+\lstlistoflistings
+
+%------------------------------------------------------------------------------
+
+\newpage
+\pagestyle{scrheadings}
+
+\section*{Conventions}
+\addcontentsline{toc}{section}{Conventions}
+\markleft{Conventions}
+
+The following typographic conventions are used:
+
+\begin{itemize}
+\item \textit{Italic face} is used for newly introduced terms, file
+ names, parameter names and in-text source code elements.
+\item \texttt{Typewriter face} is used for code examples and
+ command line output.
+\item \texttt{\textbf{Bold typewriter face}} is used for user input in
+ command lines.
+\end{itemize}
+
+Data values and addresses are specified as hexadecimal values with the
+prefix 0x. Example: 0x88A4. Unless otherwise noted, address values are
+specified as byte addresses.
+
+Concerning bit operations, the phrase ``setting a bit'', stands for
+setting the bit to $1$, ``clearing a bit'' means setting it to $0$,
+respectively.
+
+Function names are always printed with parentheses, but without
+parameters. So, if a function \textit{ecrt\_request\_master()} has
+empty parentheses, this does not mean, that it has no parameters.
+
+If shell commands have to be entered, this is marked by a prompt:
+
+\begin{lstlisting}[gobble=2]
+ host>
+\end{lstlisting}
+
+Further, if a shell command has to be entered as the superuser, the
+prompt ends with a mesh:
+
+\begin{lstlisting}[gobble=2]
+ host#
+\end{lstlisting}
+
+%------------------------------------------------------------------------------
+
+\chapter{The IgH EtherCAT Master}
+\label{chapter:master}
+\pagenumbering{arabic}
+
+This section will first introduce the master's general features and
+the concepts used for master development and will then explain the
+master's general architecture and offer details of the different
+modules. In addition, it will cover state machine definitions, mailbox
+protocol implementation and the user space interface. The last section
+will deal with timing aspects.
+
+%------------------------------------------------------------------------------
+
+\section{Feature Summary}
+\label{sec:summary}
+\index{Master!Features}
+
+The list below gives a short summary of the features of the
+implemented EtherCAT master.
+
+\begin{itemize}
+\item The master runs as a kernel module for Linux 2.6.
+\item It comes with EtherCAT-capable network driver for RealTek
+ RTL8139 (and compatible) network interface cards.
+ \begin{itemize}
+ \item The Ethernet hardware is operated without interrupts.
+ \item Drivers for additional Ethernet hardware can easily be
+ implemented due to a common device interface provided by the
+ master.
+ \end{itemize}
+\item The master module supports multiple EtherCAT masters on one
+ machine.
+\item The master code supports any Linux realtime extension through
+ its independent architecture.
+ \begin{itemize}
+ \item RTAI\nomenclature{RTAI}{RealTime Application Interface},
+ ADEOS\nomenclature{ADEOS}{Adaptive Domain Environment for
+ Operating Systems}, etc.
+ \item It runs well even without realtime extensions.
+ \end{itemize}
+\item Common ``realtime interface'' for modules, that want to use
+ EtherCAT functionality.
+ \begin{itemize}
+ \item Synchronous and asynchronous sending and receiving of frames
+ is supported.
+ \item Avoidance of unnecessary copy operations for process data.
+ \end{itemize}
+\item \textit{Domains} are introduced, to allow grouping of process
+ data objects.
+ \begin{itemize}
+ \item Handling of multiple domains with different sampling rates.
+ \item Automatic calculation of process data mapping, FMMU and sync manager
+ configuration within each domain.
+ \end{itemize}
+\item Communication through serveral finite state machines.
+ \begin{itemize}
+ \item Bus monitoring possible during realtime operation.
+ \item Automatic reconfiguration of slaves on bus power failure
+ during realtime operation.
+ \item Controlling of single slaves during realtime operation.
+ \end{itemize}
+\item Master idle mode.
+ \begin{itemize}
+ \item Automatic scanning of slaves upon topology changes.
+ \item Bus visualisation and EoE processing without a realtime module
+ connected.
+ \end{itemize}
+\item Implementation of the CANopen-over-EtherCAT (CoE) protocol.
+ \begin{itemize}
+ \item Configuration of CoE-capable slaves via SDO interface.
+ \end{itemize}
+\item Implementation of the Ethernet-over-EtherCAT (EoE) protocol.
+ \begin{itemize}
+ \item Each master creates virtual network devices that are
+ automatically coupled to EoE-cap\-able slaves found.
+ \item This implementation natively supports either a switched or a
+ routed EoE network architecture.
+ \end{itemize}
+\item User space interface via the System Filesystem
+ (Sysfs)\nomenclature{Sysfs}{System Filesystem}.
+ \begin{itemize}
+ \item User space tool for bus visualisation.
+ \item Slave E$^2$PROM image reading and writing.
+ \end{itemize}
+\item Seamless system integration though LSB\nomenclature{LSB}{Linux
+ Standard Base} compliance.
+ \begin{itemize}
+ \item Master and network device configuration via Sysconfig files.
+ \item Linux Standard Base compatible init script for master control.
+ \end{itemize}
+\item Virtual read-only network interface for monitoring and debugging
+ purposes.
+\end{itemize}
+
+%------------------------------------------------------------------------------
+
+\section{License}
+\label{sec:license}
+
+The master code is released under the terms and conditions of the GNU
+General Public License\index{GPL} \cite{gpl} (version 2). Other
+developers, that want to use EtherCAT with Linux systems, are invited
+to use the master code or even participate on development.
+
+%------------------------------------------------------------------------------
+
+\section{General Master Architecture}
+\label{sec:masterarch}
+\index{Master!Architecture}
+
+The EtherCAT master is integrated into the Linux 2.6 kernel. This was
+an early design decision, which has been made for serveral reasons:
+
+\begin{itemize}
+\item Kernel code has significantly better realtime characteristics,
+ i.~e. less jitter than user space code. It was foreseeable, that a
+ fieldbus master has a lot of cyclic work to do. Cyclic work is
+ usually triggered by timer interrupts inside the kernel. The
+ execution delay of a function that processes timer interrupts is
+ less, when it resides in kernel space, because there is no need of
+ time-consuming context switches to a user space process.
+\item It was also foreseeable, that the master code has to directly
+ communicate with the Ethernet hardware. This has to be done in the
+ kernel anyway (through network device drivers), which is one more
+ reason for the master code being in kernel space.
+\end{itemize}
+
+A general overview of the master architecture can be seen in
+figure~\ref{fig:masterarch}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/masterarch}
+ \caption{Master architecture}
+ \label{fig:masterarch}
+\end{figure}
+
+\paragraph{Master Module}
+\index{Master module}
+
+The EtherCAT master mainly consists of the master module, containing
+one or more EtherCAT masters (section~\ref{sec:mastermod}), the
+``Device Interface'' (section~\ref{sec:ecdev}) and the ``Realtime
+Interface'' (section~\ref{sec:ecrt}).
+
+\paragraph{Device Modules}
+\index{Device modules}
+
+Furthermore there are EtherCAT-capable network device driver
+modules\index{Device modules}, that connect to the EtherCAT master via
+the device interface. These modified network drivers can handle both
+network devices used for EtherCAT operation and ``normal'' Ethernet
+devices. The common case is, that the master module offers a single
+EtherCAT master: An EtherCAT-capable network device driver module
+connects one network device to this master, that is now able to send
+and receive EtherCAT frames, while all other network devices handled
+by the network driver get connected to the kernel's network stack as
+usual.
+
+\paragraph{Realtime Modules}
+
+A ``realtime module''\index{Realtime module} is a kernel module, that
+uses the EtherCAT master for cyclic exchange of process data with
+EtherCAT slaves. Realtime modules are not part of the EtherCAT master
+code\footnote{Although there are serveral examples provided in the
+ \textit{examples} directory, see chapter~\ref{chapter:usage} for
+ more information}, so anybody wanting to use the master has to write
+one. A realtime module can ``request'' a master through the realtime
+interface. If this succeeds, the module has the control over the
+master. It can now configure slaves and set up a process data image
+(see section~\ref{sec:processdata}) for cyclic exchange. This cyclic
+code has to be provided by the realtime module, so it is in hands of
+the developer, which mechanism to use for this. Moreover he has to
+decide, whether or not using a Linux realtime extension.
+
+\paragraph{Why ``Realtime'' Module?}
+
+The name shall not imply, that a linux realtime extension is
+mandatory: The master runs well even without realtime extensions, as
+section~\ref{sec:mini} shows. However, the code using the master is
+time-critical, because process data IO has to be done in cyclic work.
+Some EtherCAT slaves support watchdog units, that stop driving the
+outputs when process data was not exchanged for some time. So the
+names ``realtime interface'' and ``realtime module'' are quite
+appropriate.
+
+%------------------------------------------------------------------------------
+
+\subsection{Handling of Process Data}
+\label{sec:processdata}
+
+\paragraph{Process Data Image}
+\index{Process data}
+
+The slaves offer their inputs and outputs by presenting the master
+so-called ``Process Data Objects'' (PDOs\index{PDO}). The available
+PDOs can be determined by reading out the slave's TXPDO and RXPDO
+E$^2$PROM categories. The realtime module can register the PDOs for
+data exchange during cyclic operation. The sum of all registered PDOs
+defines the ``process data image'', which is exchanged via the
+``Logical ReadWrite'' datagrams introduced
+in~\cite[section~5.4.2.4]{dlspec}.
+
+\paragraph{Process Data Domains}
+\index{Domain}
+
+The process data image can be easily managed by creating co-called
+``domains'', which group PDOs and allocate the datagrams needed to
+exchange them. Domains are mandatory for process data exchange, so
+there has to be at least one. They were introduced for the following
+reasons:
+
+\begin{itemize}
+\item The maximum size of a ``Logical ReadWrite'' datagram is limited
+ due to the limited size of an Ethernet frame: The maximum data size
+ is the Ethernet data field size minus the EtherCAT frame header,
+ EtherCAT datagram header and EtherCAT datagram footer: $1500 - 2 -
+ 12 - 2 = 1484$ octets. If the size of the process data image exceeds
+ this limit, multiple frames have to be sent, and the image has to be
+ partitioned for the use of multiple datagrams. A domain manages this
+ automatically.
+\item Not every PDO has to be exchanged with the same frequency: The
+ values of PDOs can vary slowly over time (for example temperature
+ values), so exchanging them with a high frequency would just waste
+ bus bandwidth. For this reason, multiple domains can be created, to
+ group different PDOs and so allow separate exchange.
+\end{itemize}
+
+There is no upper limit for the number of domains, but each domain
+occupies one FMMU in each slave involved, so the maximum number of
+domains is also limited by the slaves' capabilities.
+
+\paragraph{FMMU Configuration}
+\index{FMMU!Configuration}
+
+A realtime module can register PDOs for process data exchange. Every
+PDO is part of a memory area in the slave's physical memory, that is
+protected by a sync manager \cite[section~6.7]{dlspec} for
+synchronized access. In order to make a sync manager react on a
+datagram accessing its memory, it is necessary to access the last byte
+covered by the sync manager. Otherwise the sync manager will not react
+on the datagram and no data will be exchanged. That is why the whole
+synchronized memory area has to be included into the process data
+image: For example, if a certain PDO of a slave is registered for
+exchange with a certain domain, one FMMU will be configured to map the
+complete sync-manager-protected memory, the PDO resides in. If a
+second PDO of the same slave is registered for process data exchange
+within the same domain, and this PDO resides in the same
+sync-manager-protected memory as the first PDO, the FMMU configuration
+is not touched, because the appropriate memory is already part of the
+domain's process data image. If the second PDO belongs to another
+sync-manager-protected area, this complete area is also included into
+the domains process data image. See figure~\ref{fig:fmmus} for an
+overview, how FMMU's are configured to map physical memory to logical
+process data images.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=\textwidth]{images/fmmus}
+ \caption{FMMU configuration for serveral domains}
+ \label{fig:fmmus}
+\end{figure}
+
+\paragraph{Process Data Pointers}
+
+The figure also demonstrates the way, the realtime module can access the
+exchanged process data: At PDO registration, the realtime module has
+to provide the address of a process data pointer. Upon calculation of
+the domain image and allocation of process data memory, this pointer
+is redirected to the appropriate location inside the domain's process
+data memory and can later be easily dereferenced by the module code.
+
+%------------------------------------------------------------------------------
+
+\subsection{Operation Modes}
+\index{Master modes}
+
+The EtherCAT master has serveral modes of operation:
+
+\begin{description}
+\item[Orphaned Mode] This mode takes effect, when the master has no
+ EtherCAT-capable network device connected. No bus communication is
+ possible, so this mode is not of further interest.
+\item[Idle Mode]\index{Idle mode} takes effect when the master is
+ unused (i.~e. there is no realtime module, that reserved the
+ master). In this case, the master has the ability to scan the bus by
+ itsself and generously allow bus access from user space. This mode
+ is meant for maintenance and visualisation.
+\item[Operation Mode]\index{Operation mode} The master is reserved for
+ exclusive access by a realtime module. In this mode, the master is
+ adjusted for availability and monitoring. Access from user space is
+ very restrictive and mostly limited to reading direction.
+
+\end{description}
+
+Figure~\ref{fig:modes} shows the three modes and the possible mode
+transitions.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/modes}
+ \caption{Master modes and transitions}
+ \label{fig:modes}
+\end{figure}
+
+\subsubsection{Idle Mode}
+\index{Idle mode}
+
+The master enters idle mode upon connection of a device module (see
+section~\ref{sec:device}) or releasing by a realtime module. The
+master owns a kernel workqueue and a suitable work structure, which is
+used to cyclically process the ``Idle state machine'' (see
+section~\ref{sec:fsm-idle}). This state machine automatically scans
+the bus for slaves (and re-scans upon topology changes), configures
+slaves for idle operation and executes pending operations from the
+user space interface (for example E$^2$PROM writing). On device
+disconnection or realtime request, the idle mode is stopped by
+cancelling the work and flushing the workqueue.
+
+\subsubsection{Operation Mode}
+\index{Operation mode}
+
+Operation mode is entered when a realtime module requests the master.
+The idle mode is stopped and the bus is scanned by getting the number
+of slaves and executing the ``Slave scan state machine'' (see
+section~\ref{sec:fsm-scan}) for each slave. The master is now ready to
+create domains and accept PDO registrations and slave configurations.
+After that, cyclic communication can be done by the realtime module.
+
+\paragraph{Master Phases}
+
+Every realtime module should use the master in three phases:
+
+\begin{enumerate}
+\item \textit{Startup} - The master is requested and the bus is
+ validated. Domains are created and PDOs are registered. Slave
+ configurations are applied.
+\item \textit{Operation} - Cyclic code is run, process data is
+ exchanged and the master state machine is executed.
+\item \textit{Shutdown} - Cyclic code is stopped and the master
+ is released.
+\end{enumerate}
+
+%------------------------------------------------------------------------------
+
+\section{Device Modules}
+\label{sec:device}
+\index{Device modules}
+
+Device modules are network device driver modules that handle Ethernet
+devices, which the master can use to connect to an EtherCAT bus.
+
+Section~\ref{sec:networkdrivers} offers an overview of general Linux
+network driver modules, while section~\ref{sec:requirements} will show
+the requirements to an EtherCAT-enabled network driver. Finally,
+sections~\ref{sec:seldev} to~\ref{sec:patching} show how to fulfill
+these requirements and implement such a driver module.
+
+%------------------------------------------------------------------------------
+
+\subsection{Network Driver Basics}
+\label{sec:networkdrivers}
+\index{Network drivers}
+
+EtherCAT relies on Ethernet hardware and the master needs a physical
+Ethernet device to communicate with the bus. Therefore it is necessary
+to understand how Linux handles network devices and their drivers,
+respectively.
+
+\paragraph{Tasks of a Network Driver}
+
+Network device drivers handle the lower two layers of the OSI model,
+that is the physical layer and the data-link layer. A network device
+itself natively handles the physical layer issues: It represents the
+hardware to connect to the medium and to send and receive data in the
+way, the physical layer protocol describes. The network device driver
+is responsible for getting data from the kernel's networking stack and
+forwarding it to the hardware, that does the physical transmission.
+If data is received by the hardware respectively, the driver is
+notified (usually by means of an interrupt) and has to read the data
+from the hardware memory and forward it to the network stack. There
+are a few more tasks, a network device driver has to handle, including
+queue control, statistics and device dependent features.
+
+\paragraph{Driver Startup}
+
+Usually, a driver searches for compatible devices on module loading.
+For PCI drivers, this is done by scanning the PCI bus and checking for
+known device IDs. If a device is found, data structures are allocated
+and the device is taken into operation.
+
+\paragraph{Interrupt Operation}
+\index{Interrupt}
+
+A network device usually provides a hardware interrupt that is used to
+notify the driver of received frames and success of transmittion, or
+errors, respectively. The driver has to register an interrupt service
+routine (ISR\index{ISR}\nomenclature{ISR}{Interrupt Service Routine}),
+that is executed each time, the hardware signals such an event. If the
+interrupt was thrown by the own device (multiple devices can share one
+hardware interrupt), the reason for the interrupt has to be determined
+by reading the device's interrupt register. For example, if the flag
+for received frames is set, frame data has to be copied from hardware
+to kernel memory and passed to the network stack.
+
+\paragraph{The net\_device structure}
+\index{net\_device}
+
+The driver registers a \textit{net\_device} structure for each device
+to communicate with the network stack and to create a ``network
+interface''. In case of an Ethernet driver, this interface appears as
+\textit{ethX}, where X is a number assigned by the kernel on
+registration. The \textit{net\_device} structure receives events
+(either from user space or from the network stack) via serveral
+callbacks, which have to be set before registration. Not every
+callback is mandatory, but for reasonable operation the ones below are
+needed in any case:
+
+\begin{description}
+\item[int (*open)(struct net\_device *)] This function is called when
+ network communication has to be started, for example after a command
+ \textit{ifconfig ethX up} from user space. Frame reception has to be
+ enabled by the driver.
+\item[int (*stop)(struct net\_device *)] The purpose of this callback
+ is to ``close'' the device, i.~e. make the hardware stop receiving
+ frames.
+\item[int (*hard\_start\_xmit)(struct sk\_buff *, struct net\_device
+ *)] This function is cal\-led for each frame that has to be
+ transmitted. The network stack passes the frame as a pointer to an
+ \textit{sk\_buff} structure (``socket buffer''\index{Socket buffer},
+ see below), which has to be freed after sending.
+\item[struct net\_device\_stats *(*get\_stats)(struct net\_device *)]
+ This call has to return a pointer to the device's
+ \textit{net\_device\_stats} structure, which permanently has to be
+ filled with frame statistics. This means, that everytime a frame is
+ received, sent, or an error happened, the appropriate counter in
+ this structure has to be increased.
+\end{description}
+
+The actual registration is done with the \textit{register\_netdev()}
+call, unregistering is done with \textit{unregister\_netdev()}.
+
+\paragraph{The netif Interface}
+\index{netif}
+
+All other communication in the direction interface $\to$ network stack
+is done via the \textit{netif\_*} calls. For example, on successful
+device opening, the network stack has to be notified, that it can now
+pass frames to the interface. This is done by calling
+\textit{netif\_start\_queue()}. After this call, the
+\textit{hard\_start\_xmit()} callback can be called by the network
+stack. Furthermore a network driver usually manages a frame
+transmission queue. If this gets filled up, the network stack has to
+be told to stop passing further frames for a while. This happens with
+a call to \textit{netif\_stop\_queue()}. If some frames have been
+sent, and there is enough space again to queue new frames, this can be
+notified with \textit{netif\_wake\_queue()}. Another important call is
+\textit{netif\_receive\_skb()}\footnote{This function is part of the
+ NAPI (``New API''), that replaces the ``old'' kernel 2.4 technique
+ for interfacing to the network stack (with \textit{netif\_rx()}).
+ NAPI is a technique to improve network performance on Linux. Read
+ more in
+ http://www.cyberus.ca/\textasciitilde{}hadi/usenix-paper.tgz}: It
+passes a frame to the network stack, that was just received by the
+device. Frame data has to be packed into a so-called ``socket
+buffer'' for that (see below).
+
+\paragraph{Socket Buffers}
+\index{Socket buffer}
+
+Socket buffers are the basic data type for the whole network stack.
+They serve as containers for network data and are able to quickly add
+data headers and footers, or strip them off again. Therefore a socket
+buffer consists of an allocated buffer and serveral pointers that mark
+beginning of the buffer (\textit{head}), beginning of data
+(\textit{data}), end of data (\textit{tail}) and end of buffer
+(\textit{end}). In addition, a socket buffer holds network header
+information and (in case of received data) a pointer to the
+\textit{net\_device}, it was received on. There exist functions that
+create a socket buffer (\textit{dev\_alloc\_skb()}), add data either
+from front (\textit{skb\_push()}) or back (\textit{skb\_put()}),
+remove data from front (\textit{skb\_pull()}) or back
+(\textit{skb\_trim()}), or delete the buffer (\textit{kfree\_skb()}).
+A socket buffer is passed from layer to layer, and is freed by the
+layer that uses it the last time. In case of sending, freeing has to
+be done by the network driver.
+
+%------------------------------------------------------------------------------
+
+\subsection{EtherCAT Network Drivers}
+\label{sec:requirements}
+
+There are a few requirements for Ethernet network devices to function
+as EtherCAT devices, when connected to an EtherCAT bus.
+
+\paragraph{Dedicated Interfaces}
+
+For performance and realtime purposes, the EtherCAT master needs
+direct and exclusive access to the Ethernet hardware. This implies
+that the network device must not be connected to the kernel's network
+stack as usual, because the kernel would try to use it as an ordinary
+Ethernet device.
+
+\paragraph{Interrupt-less Operation}
+\index{Interrupt}
+
+EtherCAT frames travel through the logical EtherCAT ring and are then
+sent back to the master. Communication is highly deterministic: A
+frame is sent and will be received again after a constant time.
+Therefore, there is no need to notify the driver about frame
+reception: The master can instead query the hardware for received
+frames.
+
+Figure~\ref{fig:interrupt} shows two workflows for cyclic frame
+transmittion and reception with and without interrupts.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.8\textwidth]{images/interrupt}
+ \caption{Interrupt Operation versus Interrupt-less Operation}
+ \label{fig:interrupt}
+\end{figure}
+
+In the left workflow ``Interrupt Operation'', the data from the last
+cycle is first processed and a new frame is assembled with new
+datagrams, which is then sent. The cyclic work is done for now.
+Later, when the frame is received again by the hardware, an interrupt
+is triggered and the ISR is executed. The ISR will fetch the frame
+data from the hardware and initiate the frame dissection: The
+datagrams will be processed, so that the data is ready for processing
+in the next cycle.
+
+In the right workflow ``Interrupt-less Operation'', there is no
+hardware interrupt enabled. Instead, the hardware will be polled by
+the master by executing the ISR. If the frame has been received in the
+meantime, it will be dissected. The situation is now the same as at
+the beginning of the left workflow: The received data is processed and
+a new frame is assembled and sent. There is nothing to do for the rest
+of the cycle.
+
+The interrupt-less operation is desirable, because there is simply no
+need for an interrupt. Moreover hardware interrupts are not conducive
+in improving the driver's realtime behaviour: Their undeterministic
+incidences contribute to increasing the jitter. Besides, if a realtime
+extension (like RTAI) is used, some additional effort would have to be
+made to priorize interrupts.
+
+\paragraph{Ethernet and EtherCAT Devices}
+
+Another issue lies in the way Linux handles devices of the same type.
+For example, a PCI\nomenclature{PCI}{Peripheral Component
+ Interconnect, Computer Bus} driver scans the PCI bus for devices it
+can handle. Then it registers itself as the responsible driver for all
+of the devices found. The problem is, that an unmodified driver can
+not be told to ignore a device because it will be used for EtherCAT
+later. There must be a way to handle multiple devices of the same
+type, where one is reserved for EtherCAT, while the other is treated
+as an ordinary Ethernet device.
+
+For all this reasons, the author has decided that the only acceptable
+solution is to modify standard Ethernet drivers in a way that they
+keep their normal functionality, but gain the ability to treat one or
+more of the devices as EtherCAT-capable.
+
+Below are the advantages of this solution:
+
+\begin{itemize}
+\item No need to tell the standard drivers to ignore certain devices.
+\item One networking driver for EtherCAT and non-EtherCAT devices.
+\item No need to implement a network driver from scratch and running
+ into issues, the former developers already solved.
+\end{itemize}
+
+The chosen approach has the following disadvantages:
+
+\begin{itemize}
+\item The modified driver gets more complicated, as it must handle
+ EtherCAT and non-EtherCAT devices.
+\item Many additional case differentiations in the driver code.
+\item Changes and bugfixes on the standard drivers have to be ported
+ to the Ether\-CAT-capable versions from time to time.
+\end{itemize}
+
+%------------------------------------------------------------------------------
+
+\subsection{Device Selection}
+\label{sec:seldev}
+
+After loading the master module, at least one EtherCAT-capable network
+driver module has to be loaded, that connects one of its devices to
+the master. To specify an EtherCAT device and the master to connect
+to, all EtherCAT-capable network driver modules should provide two
+module parameters:
+
+\begin{description}
+\item[ec\_device\_index] PCI device index of the device that is
+ connected to the EtherCAT bus. If this parameter is left away, all
+ devices found are treated as ordinary Ethernet devices. Default:
+ $-1$
+\item[ec\_master\_index] Index of the master to connect to. Default:
+ $0$
+\end{description}
+
+The following command loads the EtherCAT-capable RTL8139 device
+driver, telling it to handle the second device as an EtherCAT device
+and connecting it to the first master:
+
+\begin{lstlisting}
+ host# `\textbf{modprobe ec\_8139too ec\_device\_index=1}`
+\end{lstlisting}
+
+Usually, this command does not have to be entered manually, but is
+called by the EtherCAT init script. See section~\ref{sec:init} for
+more information.
+
+%------------------------------------------------------------------------------
+
+\subsection{The Device Interface}
+\label{sec:ecdev}
+\index{Device interface}
+
+An anticipation to the section about the master module
+(section~\ref{sec:mastermod}) has to be made in order to understand
+the way, a network device driver module can connect a device to a
+specific EtherCAT master.
+
+The master module provides a ``device interface'' for network device
+drivers. To use this interface, a network device driver module must
+include the header
+\textit{devices/ecdev.h}\nomenclature{ecdev}{EtherCAT Device}, coming
+with the EtherCAT master code. This header offers a function interface
+for EtherCAT devices which is explained below. All functions of the
+device interface are named with the prefix \textit{ecdev}.
+
+\paragraph{Device Registration}
+
+A network device driver can connect a physical device to an EtherCAT
+master with the \textit{ecdev\_register()} function.
+
+\begin{lstlisting}[language=C]
+ ec_device_t *ecdev_register(unsigned int master_index,
+ struct net_device *net_dev,
+ ec_isr_t isr,
+ struct module *module);
+\end{lstlisting}
+
+The first parameter \textit{master\_index} must be the index of the
+EtherCAT master to connect to (see section~\ref{sec:mastermod}),
+followed by \textit{net\_dev}, the pointer to the corresponding
+net\_device structure, which represents the network device to connect.
+The third parameter \textit{isr} must be a pointer to the interrupt
+service routine (ISR\index{ISR}) handling the device. The master will
+later execute the ISR in order to receive frames and to update the
+device status. The last parameter \textit{module} must be the pointer
+to the device driver module, which is usually accessible via the macro
+\textit{THIS\_MODULE} (see next paragraph). On success, the function
+returns a pointer to an \textit{ec\_device\_t} object, which has to be
+specified when calling further functions of the device interface.
+Therefore the device module has to store this pointer for future use.
+In error case, the \textit{ecdev\_register()} returns \textit{NULL},
+which means that the device could not be registered. The reason for
+this is printed to \textit{syslog}\index{syslog}. In this case, the
+device module is supposed to abort the module initialisation and let
+the \textit{insmod} command fail.
+
+\paragraph{Implicit Dependencies}
+
+The reason for the module pointer has to be specified at device
+registration is a non-trivial one: The master has to know about the
+module, because there will be an implicit dependency between the
+device module and a later connected realtime module: When a realtime
+module connects to the master, the use count of the master module will
+be increased, so that the master module can not be unloaded for the
+time of the connection. This is reasonable, and so automatically done
+by the kernel. The kernel knows about this dependency, because the
+realtime module uses kernel symbols provided by the master module.
+Moreover it is mandatory, that the device module can be unloaded
+neither, because it is implicitely used by the realtime module, too.
+Unloading it would lead to a fatal situation, because the master would
+have no device to send and receive frames for the realtime module.
+This dependency can not be detected automatically, because the
+realtime module does not use any symbols of the device module.
+Therefore the master explicitly increments the use counter of the
+connected device module upon connection of a realtime module and
+decrements it, if the realtime module disconnects. In this manner, it
+is impossible to unload a device module while the master is in use.
+This is done with the kernel function pair \textit{try\_module\_get()}
+\index{try\_module\_get@\textit{try\_module\_get()}} and
+\textit{module\_put()} \index{module\_put@\textit{module\_put()}}. The
+first one increases the use count of a module and only fails, if the
+module is currenly being unloaded. The last one decreases the use
+count again and never fails. Both functions take a pointer to the
+module as their argument, which the device module therefore has to
+specify upon device registration.
+
+\paragraph{Device Unregistering}
+
+The unregistration of a device is usually done in the device module's
+cleanup function, by calling the \textit{ecdev\_unregister()} function
+and specifying the master index and a pointer to the device object
+again.
+
+\begin{lstlisting}[language=C]
+ void ecdev_unregister(unsigned int master_index,
+ ec_device_t *device);
+\end{lstlisting}
+
+This function can fail too (if the master index is invalid, or the
+given device was not registered), but due to the fact, that this
+failure can not be dealt with appropriately, because the device module
+is unloading anyway, the failure code would not be of any interest. So
+the function has a void return value.
+
+\paragraph{Starting the Master}
+
+When a device has been initialized completely and is ready to send and
+receive frames, the master has to be notified about this by calling
+the \textit{ecdev\_start()} function.
+
+\begin{lstlisting}[language=C]
+ int ecdev_start(unsigned int master_index);
+\end{lstlisting}
+
+The master will then enter ``Idle Mode'' and start scanning the bus
+(and possibly handling EoE slaves). Moreover it will make the bus
+accessible via Sysfs interface and react to user interactions. The
+function takes one parameter \textit{master\_index}, which has to be
+the same as at the call to \textit{ecdev\_register()}. The return
+value will be non-zero if the starting process failed. In this case
+the device module is supposed to abort the init sequence and make the
+init function return an error code.
+
+\paragraph{Stopping the Master}
+
+Before a device can be unregistered, the master has to be stopped by
+calling the \textit{ecdev\_stop()} function. It will stop processing
+messages of EoE slaves and leave ``Idle Mode''. The only parameter is
+\textit{master\_index}. This function can not fail.
+
+\begin{lstlisting}[language=C]
+ void ecdev_stop(unsigned int master_index);
+\end{lstlisting}
+
+A subsequent call to \textit{ecdev\_unregister()} will now unregister
+the device savely.
+
+\paragraph{Receiving Frames}
+
+The interrupt service routine handling device events usually has a
+section where new frames are fetched from the hardware and forwarded
+to the kernel network stack via \textit{netif\_receive\_skb()}. For an
+EtherCAT-capable device, this has to be replaced by calling the
+\textit{ecdev\_receive()} function to forward the received data to the
+connected EtherCAT master instead.
+
+\begin{lstlisting}[language=C]
+ void ecdev_receive(ec_device_t *device,
+ const void *data,
+ size_t size);
+\end{lstlisting}
+
+This function takes 3 arguments, a pointer to the device object
+(\textit{device}), a pointer to the received data, and the size of the
+received data. The data range has to include the Ethernet headers
+starting with the destination address and reach up to the last octet
+of EtherCAT data, excluding the FCS. Most network devices handle the
+FCS in hardware, so it is not seen by the driver code and therefore
+doesn't have to be cut off manually.
+
+\paragraph{Handling the Link Status}
+
+Information about the link status (i.~e. if there is a carrier signal
+detected on the physical port) is also important to the master. This
+information is usually gathered by the ISR and should be forwarded to
+the master by calling the \textit{ecdev\_link\_state()} function. The
+master then can react on this and warn the realtime module of a lost
+link.
+
+\begin{lstlisting}[language=C]
+ void ecdev_link_state(ec_device_t *device,
+ uint8_t new_state);
+\end{lstlisting}
+
+The parameter \textit{device} has to be a pointer to the device object
+returned by \textit{ecdev\_\-register()}. With the second parameter
+\textit{new\_state}, the new link state is passed: 1, if the link went
+up, and 0, if it went down.
+
+%------------------------------------------------------------------------------
+
+\subsection{Patching Network Drivers}
+\label{sec:patching}
+\index{Network drivers}
+
+This section will demonstrate, how to make a standard Ethernet driver
+EtherCAT-capable. The below code examples are taken out of the
+modified RealTek RTL8139 driver coming with the EtherCAT master
+(\textit{devices/8139too.c}). The driver was originally developed by
+Donald Becker, and is currently maintained by Jeff Garzik.
+
+Unfortunately, there is no standard procedure to enable an Ethernet
+driver for use with the EtherCAT master, but there are a few common
+techniques, that are described in this section.
+
+\begin{enumerate}
+\item A first simple rule is, that \textit{netif\_*()}-calls must be
+ strictly avoided for all EtherCAT devices. As mentioned before,
+ EtherCAT devices have no connection to the network stack, and
+ therefore must not call its interface functions.
+\item Another important thing is, that EtherCAT devices should be
+ operated without interrupts. So any calls of registering interrupt
+ handlers and enabling interrupts at hardware level must be avoided,
+ too.
+\item The master does not use a new socket buffer for each send
+ operation: Instead there is a fix one allocated on master
+ initialization. This socket buffer is filled with an EtherCAT frame
+ with every send operation and passed to the
+ \textit{hard\_start\_xmit()} callback. For that it is necessary,
+ that the socket buffer is not be freed by the network driver as
+ usual.
+\end{enumerate}
+
+As mentioned before, the driver will handle both EtherCAT and ordinary
+Ethernet devices. This implies, that for each device-dependent
+operation, it has to be checked if an EtherCAT device is involved, or
+just an Ethernet device. For means of simplicity, this example driver
+will only handle one EtherCAT device. This makes the case
+differentiations easier.
+
+\paragraph{Global Variables}
+
+First of all, there have to be additional global variables declared,
+as shown in the listing:
+
+\begin{lstlisting}[language=C,numbers=left]
+ static int ec_device_index = -1;
+ static int ec_device_master_index = 0;
+ static ec_device_t *rtl_ec_dev;
+ struct net_device *rtl_ec_net_dev = NULL;
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1} -- \textcircled{\tiny 2}] To
+ comply to the requirements for parameters of EtherCAT device modules
+ described in section~\ref{sec:seldev}, there have to be additional
+ parameter variables: \textit{ec\_\-device\_\-index} holds the index
+ of the EtherCAT device and defaults to $-1$ (no EtherCAT device),
+ while \textit{ec\_device\_master\_index} stores index of the master,
+ the single device will be connected to. Default: $0$
+\item[\normalfont\textcircled{\tiny 3}] \textit{rtl\_ec\_dev} will be
+ the pointer to the later registered RealTek EtherCAT device, which
+ can be used as a parameter for device methods.
+\item[\normalfont\textcircled{\tiny 4}] \textit{rtl\_ec\_net\_dev} is
+ a pointer to the \textit{net\_device} structure of the dedicated
+ device and is set while scanning the PCI bus and finding the device
+ with the specified index. This is done inside the
+ \textit{pci\_module\_init()} function executed as the first thing on
+ module loading.
+\end{description}
+
+\paragraph{Module Initialization}
+
+Below is the (shortened) coding of the device driver's module init
+function:
+
+\begin{lstlisting}[language=C,numbers=left]
+ static int __init rtl8139_init_module(void)
+ {
+ if (pci_module_init(&rtl8139_pci_driver) < 0) {
+ printk(KERN_ERR "Failed to init PCI mod.\n");
+ goto out_return;
+ }
+
+ if (rtl_ec_net_dev) {
+ printk(KERN_INFO "Registering"
+ " EtherCAT device...\n");
+ if (!(rtl_ec_dev =
+ ecdev_register(ec_device_master_index,
+ rtl_ec_net_dev,
+ rtl8139_interrupt,
+ THIS_MODULE))) {
+ printk(KERN_ERR "Failed to reg."
+ " EtherCAT device!\n");
+ goto out_unreg_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_unreg_ec;
+ }
+ } else {
+ printk(KERN_WARNING "No EtherCAT device"
+ " registered!\n");
+ }
+
+ return 0;
+
+ out_unreg_ec:
+ ecdev_unregister(ec_device_master_index, rtl_ec_dev);
+ out_unreg_pci:
+ pci_unregister_driver(&rtl8139_pci_driver);
+ out_return:
+ return -1;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] This call initializes all
+ RTL8139-compatible devices found on the pci bus. If a device with
+ index \textit{ec\_device\_index} is found, a pointer to its
+ \textit{net\_device} structure is stored in
+ \textit{rtl\_ec\_net\_dev} for later use (see next listings).
+\item[\normalfont\textcircled{\tiny 8}] If the specified device was
+ found, \textit{rtl\_ec\_net\_dev} is non-zero.
+\item[\normalfont\textcircled{\tiny 11}] The device is connected to
+ the specified master with a call to \textit{ecdev\_register()}. If
+ this fails, module loading is aborted.
+\item[\normalfont\textcircled{\tiny 23}] The device registration was
+ successful and the master is started. This can fail, which aborts
+ module loading.
+\item[\normalfont\textcircled{\tiny 29}] If no EtherCAT device was
+ found, a warning is output.
+\end{description}
+
+\paragraph{Device Searching}
+
+During the PCI initialization phase, a variable \textit{board\_idx} is
+increased for each RTL8139-compatible device found. The code below is
+executed for each device:
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (board_idx == ec_device_index) {
+ rtl_ec_net_dev = dev;
+ strcpy(dev->name, "ec0");
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1}] The device with the specified
+ index will be the EtherCAT device.
+\end{description}
+
+\paragraph{Avoiding Device Registration}
+
+Later in the PCI initialization phase, the net\_devices get
+registered. This has to be avoided for EtherCAT devices and so this is
+a typical example for an EtherCAT case differentiation:
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (dev != rtl_ec_net_dev) {
+ i = register_netdev(dev);
+ if (i) goto err_out;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1}] If the current net\_device is
+ not the EtherCAT device, it is registered at the network stack.
+\end{description}
+
+\paragraph{Avoiding Interrupt Registration}
+
+In the next two listings, there is an interrupt requested and the
+device's interrupts are enabled. This also has to be encapsulated by
+if-clauses, because interrupt operation is not wanted for EtherCAT
+devices.
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (dev != rtl_ec_net_dev) {
+ retval = request_irq(dev->irq, rtl8139_interrupt,
+ SA_SHIRQ, dev->name, dev);
+ if (retval) return retval;
+ }
+\end{lstlisting}
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (dev != rtl_ec_net_dev) {
+ /* Enable all known interrupts by setting
+ the interrupt mask. */
+ RTL_W16(IntrMask, rtl8139_intr_mask);
+ }
+\end{lstlisting}
+
+\paragraph{Frame Sending}
+
+The listing below shows an exerpt of the function representing the
+\textit{hard\_start\_xmit()} callback of the net\_device.
+
+\begin{lstlisting}[language=C,numbers=left]
+ /* Note: the chip doesn't have auto-pad! */
+ if (likely(len < TX_BUF_SIZE)) {
+ if (len < ETH_ZLEN)
+ memset(tp->tx_buf[entry], 0, ETH_ZLEN);
+ skb_copy_and_csum_dev(skb, tp->tx_buf[entry]);
+ if (dev != rtl_ec_net_dev) {
+ dev_kfree_skb(skb);
+ }
+ } else {
+ if (dev != rtl_ec_net_dev) {
+ dev_kfree_skb(skb);
+ }
+ tp->stats.tx_dropped++;
+ return 0;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 6} + \textcircled{\tiny 10}] The
+ master uses a fixed socket buffer for transmission, which is reused
+ and may not be freed.
+\end{description}
+
+\paragraph{Frame Receiving}
+
+During ordinary frame reception, a socket buffer is created and filled
+with the received data. This is not necessary for an EtherCAT device:
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (dev != rtl_ec_net_dev) {
+ /* Malloc up new buffer, compatible with net-2e. */
+ /* Omit the four octet CRC from the length. */
+
+ skb = dev_alloc_skb (pkt_size + 2);
+ if (likely(skb)) {
+ skb->dev = dev;
+ skb_reserve(skb, 2); /* 16 byte align
+ the IP fields. */
+ eth_copy_and_sum(skb, &rx_ring[ring_off + 4],
+ pkt_size, 0);
+ skb_put(skb, pkt_size);
+ skb->protocol = eth_type_trans(skb, dev);
+
+ dev->last_rx = jiffies;
+ tp->stats.rx_bytes += pkt_size;
+ tp->stats.rx_packets++;
+
+ netif_receive_skb (skb);
+ } else {
+ if (net_ratelimit())
+ printk(KERN_WARNING
+ "%s: Memory squeeze, dropping"
+ " packet.\n", dev->name);
+ tp->stats.rx_dropped++;
+ }
+ } else {
+ ecdev_receive(rtl_ec_dev,
+ &rx_ring[ring_offset + 4], pkt_size);
+ dev->last_rx = jiffies;
+ tp->stats.rx_bytes += pkt_size;
+ tp->stats.rx_packets++;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 28}] If the device is an EtherCAT
+ device, no socket buffer is allocated. Instead a pointer to the data
+ (which is still in the device's receive ring) is passed to the
+ EtherCAT master. Unnecessary copy operations are avoided.
+\item[\normalfont\textcircled{\tiny 30} -- \textcircled{\tiny 32}] The
+ device's statistics are updated as usual.
+\end{description}
+
+\paragraph{Link State}
+
+The link state (i.~e. if there is a carrier signal detected on the
+receive port) is determined during execution of the ISR. The listing
+below shows the different processing for Ethernet and EtherCAT
+devices:
+
+\begin{lstlisting}[language=C,numbers=left]
+ if (dev != rtl_ec_net_dev) {
+ if (tp->phys[0] >= 0) {
+ mii_check_media(&tp->mii, netif_msg_link(tp),
+ init_media);
+ }
+ } else {
+ void __iomem *ioaddr = tp->mmio_addr;
+ uint16_t link = RTL_R16(BasicModeStatus)
+ & BMSR_LSTATUS;
+ ecdev_link_state(rtl_ec_dev, link ? 1 : 0);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] The ``media check'' is done
+ via the media independent interface (MII\nomenclature{MII}{Media
+ Independent Interface}), a standard interface for Fast Ethernet
+ devices.
+\item[\normalfont\textcircled{\tiny 7} -- \textcircled{\tiny 10}] For
+ EtherCAT devices, the link state is fetched manually from the
+ appropriate device register, and passed to the EtherCAT master by
+ calling \textit{ecdev\_\-link\_\-state()}.
+\end{description}
+
+\paragraph{Module Cleanup}
+
+Below is the module's cleanup function:
+
+\begin{lstlisting}[language=C,numbers=left]
+ static void __exit rtl8139_cleanup_module (void)
+ {
+ 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;
+ }
+
+ pci_unregister_driver(&rtl8139_pci_driver);
+
+ printk(KERN_INFO "RTL8139-EtherCAT module"
+ " cleaned up.\n");
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 6}] Stopping and unregistration is
+ only done, if a device was registered before.
+\item[\normalfont\textcircled{\tiny 8}] The master is first stopped,
+ so it does not access the device any more.
+\item[\normalfont\textcircled{\tiny 10}] After this, the device is
+ unregistered. The master is now ``ophaned''.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{The Master Module}
+\label{sec:mastermod}
+\index{Master module}
+
+The EtherCAT master is designed to run as a kernel module. Moreover
+the master kernel module \textit{ec\_master} can handle multiple
+masters at the same time: The number of masters has to be passed to
+the module with the parameter \textit{ec\_master\_count}, that
+defaults to $1$. A certain master can later be addressed by its index.
+For example, if the master module has been loaded with the command
+
+\begin{lstlisting}
+ host# `\textbf{modprobe ec\_master ec\_master\_count=2}`
+\end{lstlisting}
+
+the two masters can be addressed by their indices 0 and 1 respectively
+(see figure~\ref{fig:masters}). This master index mandatory for
+certain functions of the master interfaces.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.5\textwidth]{images/masters}
+ \caption{Multiple masters in one module}
+ \label{fig:masters}
+\end{figure}
+
+\paragraph{Master Log Messages}
+
+The master module gives information about it's state and events via
+the syslog interface. The module loading command above should result
+in the following syslog messages:
+
+\begin{lstlisting}
+ EtherCAT: Master driver, 1.1 (stable) - rev. 513,
+ compiled by fp at Aug 09 2006 09:43:50
+ EtherCAT: Initializing 2 EtherCAT master(s)...
+ EtherCAT: Initializing master 0.
+ EtherCAT: Initializing master 1.
+ EtherCAT: Master driver initialized.
+\end{lstlisting}
+
+The master provides information about it's version number, subversion
+revision number and compile information, like the date of compilation
+and the user, who compiled. All messages are prefixed either with
+\texttt{EtherCAT:}, \texttt{EtherCAT WARNING:} or \texttt{EtherCAT
+ ERROR:}, which makes searching the logs easier.
+
+%------------------------------------------------------------------------------
+
+\subsection{Class Reference}
+\label{sec:classes}
+
+This section is not intended to be a complete reference of master
+classes and functions\footnote{The comprehensive master reference can
+ be obtained at http://etherlab.org/download/download-en.html}, but
+will give a general survey of the master's classes, and how they
+interact.
+
+Figure~\ref{fig:uml-all} shows an UML class diagram of the master
+classes.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=\textwidth]{images/uml-all}
+ \caption{UML class diagram with associations}
+ \label{fig:uml-all}
+\end{figure}
+
+The following subsections introduce serveral classes with their
+attributes and methods.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Master Class}
+\label{sec:class-master}
+\index{Master!Class}
+
+Figure~\ref{fig:uml-master} shows an UML class diagram of the master
+class. There is a short explanation of the attributes and methods
+below.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.8\textwidth]{images/uml-master}
+ \caption{Master UML class diagram}
+ \label{fig:uml-master}
+\end{figure}
+
+\paragraph{Master Attributes}
+
+\begin{description}
+\item[list] is a listhead structure that is needed to manage the list
+ of masters in the master module (see section~\ref{sec:mastermod}).
+\item[reserved] is a flag, that marks the master as reserved for a
+ realtime module, so that a call to \textit{ecrt\_request\_master()}
+ fails, if another module is already using the master.
+\item[index] contains the number of the master. The first master will
+ get index 0, the second index 1, and so on.
+\item[kobj] In order to make the master object available via Sysfs
+ (see section~\ref{sec:sysfs}), this structure is needed inside the
+ master object (see section~\ref{sec:sysfs}).
+\item[slaves] is the list of slaves. It consists of objects of the
+ \textit{ec\_slave\_t} class (see section~\ref{sec:class-slave}).
+\item[slave\_count] is the number of slaves in the list.
+\item[device] points to the network device that is used by the master
+ to send and receive frames (see section~\ref{sec:class-device}). It
+ is \textit{NULL}, if no device is connected.
+\item[datagram\_queue] is a list of datagrams (see
+ section~\ref{sec:class-datagram}) that have to be sent by the
+ master, or have already been sent and wait to be received again.
+ Upon reception or error, the datagrams are dequeued.
+\item[datagram\_index] contains the index value for the next datagram.
+ The master stores this incrementing index into every datagram, to
+ make it easier to assign a received datagram to the one sent before.
+\item[domains] contains the list of domains created by the realtime
+ module (section~\ref{sec:class-domain}).
+\item[debug\_level] controls, how much debugging output is printed by
+ the master: 0 means no debugging output, 1 means to output certain
+ executing marks and actions, and 2 means to output frame contents in
+ addition. This value can be changed at runtime via the Sysfs
+ interface (see section~\ref{sec:sysfs}).
+\item[stats] is a statistics object that contains certain counters
+ (like the number of missed frames). These statistics are output on
+ demand, but at most once a second.
+\item[workqueue] is the kernel workqueue used for idle mode.
+\item[idle\_work] is the work object, that is queued.
+\item[fsm] The attribute \textit{fsm} represents the master's finite
+ state machine, that does all the slave processing. See
+ sections~\ref{sec:class-fsm} and~\ref{sec:fsm} for further details.
+\item[mode] contains the current master mode, if it is orphaned, idle,
+ or in operation mode.
+\item[eoe\_timer] is the kernel timer used for EoE\index{EoE}
+ processing.
+\item[eoe\_running] marks the state of EoE processing.
+\item[eoe\_handlers] is the list of EoE handlers (see
+ section~\ref{sec:class-eoe}).
+\item[internal\_lock] is a spinlock used in idle mode, that controls
+ the concurrency of the idle and EoE processes.
+\item[request\_cb] The ``request lock'' callback function, the master
+ has to provide for foreign instances, which want to access the
+ master (see section~\ref{sec:concurr}).
+\item[release\_cb] The callback function that will release the master
+ lock.
+\item[cb\_data] This value will be passed as an argument to each
+ callback.
+\item[eeprom\_write\_enable] flag can be written via Sysfs to enable
+ the general writing of E$^2$PROM contents.
+\end{description}
+
+\paragraph{Public Master Methods}
+
+\begin{description}
+\item[ec\_master\_init()] is the master's constructor. It initializes
+ all attributes, creates the workqueue, creates EoE handlers and the
+ state machine object, and adds the kernel object to the Sysfs
+ hierarchy.
+\item[ec\_master\_clear()] is the destructor and undoes all these
+ actions.
+\item[ec\_master\_reset()] clears the master, but initializes it
+ again. This is needed, when a realtime module disconnects: Slaves
+ and other attributes are cleared and are later rebuilt by the idle
+ process.
+\item[ec\_master\_idle\_start/stop()] These methods enable or disable
+ the idle process.
+\item[ec\_master\_eoe\_start/stop()] These methods do the same for the
+ EoE timer.
+\item[ec\_master\_receive\_datagrams()] This method is called by the
+ device, which uses it to pass received frames to the master. The
+ frame is dissected and the contained datagrams are assigned to the
+ datagram objects in the datagram queue, which are dequeued on
+ reception or error.
+\item[ec\_master\_queue\_datagram()] This method is used to queue a
+ new datagram for sending and receiving.
+\item[ec\_master\_output\_stats()] This method is cyclically called to
+ output a summary of the \textit{stats} attribute at most once a
+ second.
+\item[ec\_master\_clear\_slaves()] clears the list of slaves. This is
+ needed on connection/disconnection of a realtime module or at a
+ topology change in idle mode, when all slaves objects are rebuilt.
+\end{description}
+
+\paragraph{Private Master Methods}
+
+A few of a master's methods are private, meaning, that they can only
+be called from other master methods:
+
+\begin{description}
+\item[ec\_master\_send\_datagrams()] searches the datagram queue for
+ unsent datagrams, allocates frames to send them, does the actual
+ sending and marks the datagrams as sent.
+\item[ec\_master\_idle\_run()] is the work function for the idle mode.
+ It executes the idle state machine, described in
+ section~\ref{sec:fsm-idle}.
+\item[ec\_master\_eoe\_run()] is called by the EoE timer and is
+ responsible for communicating with EoE-capable slaves. See
+ section~\ref{sec:eoeimp} for more information.
+\end{description}
+
+\paragraph{Master Methods (Realtime Interface)}
+
+The master methods belonging to the Eth\-er\-CAT realtime
+interface\index{ecrt@\textit{ecrt}}\nomenclature{ecrt}{EtherCAT
+ Realtime Interface} begin with the prefix \textit{ecrt} instead of
+\textit{ec}. The functions of the realtime interface are explained in
+section~\ref{sec:ecrt-master}.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Slave Class}
+\label{sec:class-slave}
+\index{Slave!Class}
+
+Figure~\ref{fig:uml-slave} shows an UML class diagram of the slave
+class. There is a short explanation of the attributes and methods
+below.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.8\textwidth]{images/uml-slave}
+ \caption{Slave UML class diagram}
+ \label{fig:uml-slave}
+\end{figure}
+
+\paragraph{Slave Attributes}
+
+\begin{description}
+\item[list] The master holds a slave list, therefore the slave class
+ must contain this structure used as an anchor for the linked
+ list.
+\item[kobj] This pointer serves as base object for the slave's Sysfs
+ representation.
+\item[master] is the pointer to the master owning this slave object.
+\item[ring\_position] is the logical position in the logical ring
+ topology.
+\item[station\_address] is the configured station address. This is
+ always the ring position~+~$1$).
+\item[coupler\_index] is the index of the last bus coupler.
+\item[coupler\_subindex] is the slave's position, counted from the
+ last bus coupler. See section~\ref{sec:addr} for more information.
+\item[base\_*] These attributes contain base information about the
+ slave, that are read from the ``DL Information'' attribute.
+\item[dl\_*] These fields store information of the ``DL Status''
+ attribute, for example states of the the communication ports.
+\item[sii\_*] These attributes contain values from the ``Slave
+ Information Interface'' \cite[section~6.4]{dlspec}, mostly identity
+ and mailbox information, but also the list of sync manager
+ configurations and PDOs.
+\item[registered] This flag is set, if one or more PDOs of the slave
+ have been registered for process data exchange. Otherwise a warning
+ is output, because the slave is unused.
+\item[fmmus] Is an array of FMMU configurations, that have to be
+ applied to the slave.
+\item[fmmu\_count] contains number of FMMUs used.
+\item[eeprom\_*] These fields contain E$^2$PROM contents and the
+ extracted category information \cite[section~5.4]{alspec}.
+\item[new\_eeprom\_data] If this pointer is not \textit{NULL}, it
+ points to new E$^2$PROM contents, that have to be written to the
+ slave.
+\item[new\_eeprom\_size] This field represents the size of the new
+ E$^2$PROM data.
+\item[requested\_state] is the requested slave state.
+\item[current\_state] is the current slave state.
+\item[error\_flag] is used by the operation and idle state machines
+ to indicate, that a state transisition has failed and should not be
+ tried again until an external event happens.
+\item[online] This flag contains the online state of the slave (i.~e.
+ if it currently responds to the masters commands). Changes of the
+ online state are always reported.
+\item[varsize\_fields] is only suitable for slaves that provide PDOs
+ of variable size (like slaves that manage a sub-fieldbus) and
+ contains information about what size this fields actually should
+ have.
+\end{description}
+
+\paragraph{Public Slave Methods}
+
+\begin{description}
+\item[ec\_slave\_init()] The slave's constructor.
+\item[ec\_slave\_clear()] The slave's destructor.
+\item[ec\_prepare\_fmmu()] prepares an FMMU configuration. The FMMU is
+ configured for a certain sync manager and domain.
+\item[ec\_fetch\_*()] Serveral methods to extract information of the
+ E$^2$PROM category contents.
+\item[ec\_slave\_locate\_string()] extracts a string out of a STRING
+ category and allocates string memory.
+\item[ec\_slave\_calc\_sync\_size()] calculates the size of sync
+ manager contents, because they can be variable due to variable-sized
+ PDOs.
+\item[ec\_slave\_info()] This method prints all slave information into
+ a buffer for Sysfs reading.
+\item[ec\_slave\_mbox\_*()] These functions prepare datagrams for
+ mailbox communication, or process mailbox responses, respectively.
+\end{description}
+
+\paragraph{Private Slave Methods}
+
+\begin{description}
+\item[ec\_slave\_write\_eeprom()] This function accepts E$^2$PROM data
+ from user space, does a quick validation of the contents and
+ schedules them for writing through the idle state machine.
+\end{description}
+
+\paragraph{Slave Methods (Realtime Interface)}
+
+\begin{description}
+\item[ecrt\_slave\_conf\_sdo*()] These methods accept SDO
+ configurations, that are applied on slave activation (i.~e.
+ everytime the slave is configured). The methods differ only in the
+ data size of the SDO (8, 16 or 32 bit).
+\item[ecrt\_slave\_pdo\_size()] This method specifies the size of a
+ variable-sized PDO.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Device Class}
+\label{sec:class-device}
+\index{Device!Class}
+
+The device class is responsible for communicating with the connected
+EtherCAT-enabled network driver. Figure~\ref{fig:uml-device} shows its
+UML class diagram.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.3\textwidth]{images/uml-device}
+ \caption{Device UML class diagram}
+ \label{fig:uml-device}
+\end{figure}
+
+\paragraph{Device Attributes}
+
+\begin{description}
+\item[master] A pointer to the master, which owns the device object.
+\item[dev] This is the pointer to the \textit{net\_device} structure
+ of the connected network device driver.
+\item[open] This flag stores, if the network device is ``opened'' and
+ ready for transmitting and receiving frames.
+\item[tx\_skb] The transmittion socket buffer. Instead of allocating a
+ new socket buffer for each frame, the same socket buffer is recycled
+ and used for every frame.
+\item[isr] The pointer to the network device's interrupt service
+ routine. \textit{ec\_isr\_t} is a type definition in the device
+ interface, which looks like below:
+ \begin{lstlisting}[gobble=4,language=C]
+ typedef irqreturn_t (*ec_isr_t)(int, void *,
+ struct pt_regs *);
+ \end{lstlisting}
+\item[module] A pointer to the network driver module, to increase and
+ decrease the use counter (see paragraph ``Implicit Dependencies'' in
+ section~\ref{sec:ecdev}).
+\item[link\_state] The current link state. It can be 0 ``down'' or 1
+ ``up''.
+\item[dbg] Every device objects contains a debugging interface (see
+ sectios~\ref{sec:class-debug} and~\ref{sec:debug}).
+\end{description}
+
+\paragraph{Public Device Methods}
+
+\begin{description}
+\item[ec\_device\_init()] The device constructor.
+\item[ec\_device\_clear()] The device destructor.
+\item[ec\_device\_open()] ``Opens'' the device for transmittion and
+ reception of frames. This is equivalent to the \textit{ifconfig up}
+ command for ordinary Ethernet devices.
+\item[ec\_device\_close()] Stops frame transmittion and reception.
+ This is equivalent to the \textit{ifconfig down} command for
+ ordinary Ethernet devices.
+\item[ec\_device\_call\_isr()] Calls the interrupt service routine of
+ the device.
+\item[ec\_device\_tx\_data()] Returns a pointer into the memory of the
+ transmittion socket buffer \textit{tx\_skb}. This is used by the
+ master to assemble a new EtherCAT frame.
+\item[ec\_device\_send()] Sends an assembled frame by passing it to
+ the device's \textit{hard\_\-start\_\-xmit()} callback.
+\end{description}
+
+\paragraph{Device Methods (Device Interface)}
+
+The device methods belonging to the device interface are explained in
+section~\ref{sec:ecdev}.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Datagram Class}
+\label{sec:class-datagram}
+\index{Datagram!Class}
+
+So send and receive a datagram, an object of the
+\textit{ec\_datagram\_t} class is needed. It can be initialized with a
+datagram type \cite[section~5.4]{dlspec} and length (optionally filled
+with data) and appended to the master's datagram queue.
+Figure~\ref{fig:uml-datagram} shows its UML class diagram.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.3\textwidth]{images/uml-datagram}
+ \caption{Datagram UML class diagram}
+ \label{fig:uml-datagram}
+\end{figure}
+
+\paragraph{Datagram Attributes}
+
+\begin{description}
+\item[list] This attribute is needed to make a list of datagrams, as
+ used in the domain class (see section~\ref{sec:class-domain}).
+\item[queue] This attribute is the anchor to the master's datagram
+ queue, which is implemented as a linked list.
+\item[type] The datagram type. \textit{ec\_\-datagram\_\-type\_\-t} is
+ an enumeration, which can have the values
+ \textit{EC\_\-DATAGRAM\_\-APRD}, \textit{EC\_\-DATAGRAM\_\-APWR},
+ \textit{EC\_\-DATAGRAM\_\-NPRD}, \textit{EC\_\-DATAGRAM\_\-NPWR},
+ \textit{EC\_\-DATAGRAM\_\-BRD}, \textit{EC\_\-DATAGRAM\_\-BWR} or
+ \textit{EC\_\-DATAGRAM\_\-LRW}.
+\item[address] The slave address. For all addressing schemes take 4
+ bytes, \textit{ec\_address\_t} is a union type:
+ \begin{lstlisting}[gobble=4,language=C]
+ typedef union {
+ struct {
+ uint16_t slave; /**< configured or
+ autoincrement
+ address */
+ uint16_t mem; /**< physical memory
+ address */
+ } physical; /**< physical address */
+ uint32_t logical; /**< logical address */
+ } ec_address_t;
+ \end{lstlisting}
+\item[data] The actual data of the datagram. These are either filled
+ in before sending (at writing access) or are inserted by the
+ adressed slave(s) (at reading access). In any case, the data memory
+ must be dynamically allocated. Besides, this can be done before
+ cyclic processing with the \textit{ec\_datagram\_prealloc()} method
+ (see below).
+\item[mem\_size] The size of the allocated memory, \textit{data}
+ points to.
+\item[data\_size] The size of the actual data in the \textit{data}
+ memory.
+\item[index] The sequential EtherCAT datagram index. This value is set
+ by the master on sending, to easier assign a received datagram to a
+ queued datagram object.
+\item[working\_counter] The working counter of the datagram. This is
+ set to zero on sending and filled with the real value of the working
+ counter on datagram reception.
+\item[state] The state of the datagram.
+ \textit{ec\_\-datagram\_\-state\_\-t} is an enumeration and can be
+ \textit{EC\_\-DATA\-GRAM\_\-INIT},
+ \textit{EC\_\-DATA\-GRAM\_\-QUEU\-ED},
+ \textit{EC\_\-DATA\-GR\-AM\_\-SEN\-T},
+ \textit{EC\_\-DATA\-GRAM\_\-REC\-EIVED},
+ \textit{EC\_\-DATA\-GRAM\_\-TIMED\_\-OUT} or
+ \textit{EC\_\-DA\-TA\-GRAM\_\-ERR\-OR}.
+\item[t\_sent] This attribute is set to the timestamp, when the
+ datagram was sent, to later detect a timeout.
+\end{description}
+
+\paragraph{Public Datagram Methods}
+
+\begin{description}
+\item[ec\_datagram\_init()] The datagram's constructor.
+\item[ec\_datagram\_clear()] The datagram's destructor.
+\item[ec\_datagram\_prealloc()] Allocates memory for the datagram
+ data. This is especially needed, if the datagram structure will
+ later be used in a context, where no dynamic memory allocation is
+ allowed.
+\item[ec\_datagram\_nprd()] Initializes a ``Node-Addressed Physical
+ Read'' datagram \cite[section~5.4.1.2]{dlspec}.
+\item[ec\_datagram\_npwr()] Initializes a ``Node-Addressed Physical
+ Write'' datagram \cite[section~5.4.2.2]{dlspec}.
+\item[ec\_datagram\_aprd()] Initializes a ``Auto-Increment Physical
+ Read'' datagram \cite[section~5.4.1.1]{dlspec}.
+\item[ec\_datagram\_apwr()] Initializes a ``Auto-Increment Physical
+ Write'' datagram \cite[section~5.4.2.1]{dlspec}.
+\item[ec\_datagram\_brd()] Initializes a ``Broadcast Read'' datagram
+ \cite[section~5.4.1.3]{dlspec}.
+\item[ec\_datagram\_bwr()] Initializes a ``Broadcast Write'' datagram
+ \cite[section~5.4.2.3]{dlspec}.
+\item[ec\_datagram\_lrw()] Initializes a ``Logical ReadWrite''
+ datagram \cite[section~5.4.3.4]{dlspec}.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Domain Class}
+\label{sec:class-domain}
+\index{Domain!Class}
+
+The domain class encapsules PDO registration and management of the
+process data image and its exchange. The UML class diagram can be seen
+in figure~\ref{fig:uml-domain}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.4\textwidth]{images/uml-domain}
+ \caption{Domain UML class diagram}
+ \label{fig:uml-domain}
+\end{figure}
+
+\paragraph{Domain Attributes}
+
+\begin{description}
+\item[kobj] This \textit{kobject} structure is needed for the Sysfs
+ representation of the domain.
+\item[list] The master manages a list of domains, so this list anchor
+ is needed.
+\item[index] The domain's index. The first domain will get index 0,
+ the second index 1, and so on.
+\item[master] A pointer to the master owning the domain.
+\item[data\_size] The size of the domain's process data image.
+\item[datagram] A linked list with the datagram objects, the domain
+ needs for process data exchange (see
+ section~\ref{sec:class-datagram}).
+\item[base\_address] This attribute stores the logical offset, to
+ which the domain's process data are mapped.
+\item[response\_count] The sum of the datagrams' working counters at
+ the last process data exchange. Changes are always reported.
+\item[data\_regs] The (linked) list of PDO registrations. The realtime
+ module requests the exchange of certain PDOs and supplies the
+ address of process data pointers, that will later point to the
+ respective locations in the process data image. These ``data
+ registrations'' are saved in the \textit{data\_regs} list.
+\item[working\_counter\_changes] This field stores the number of
+ working counter changes since the last notification. This helps to
+ reduce syslog output in case of frequent changes.
+\item[t\_last] The timestamp of the last working counter change
+ notification.
+\end{description}
+
+\paragraph{Public Domain Methods}
+
+\begin{description}
+\item[ec\_domain\_init()] The domain's constructor.
+\item[ec\_domain\_clear()] The domain's destructor.
+\item[ec\_domain\_alloc()] Allocates the process data image and the
+ respective datagrams based on the process data registrations.
+\item[ec\_domain\_queue()] Queues the domain's datagrams for exchange
+ via the master.
+\end{description}
+
+\paragraph{Private Domain Methods}
+
+\begin{description}
+\item[ec\_domain\_reg\_pdo\_entry()] This method is used to do a PDO
+ registration. It finds the appropriate sync manager covering the PDO
+ data, calculates its offset in the sync-manager-protected memory and
+ prepares the FMMU configurations for the related slave. Then the PDO
+ registration is appended to the list.
+\item[ec\_domain\_clear\_data\_regs()] Clearing all process data
+ registrations is needed in serveral places and therefore has been
+ sourced out to an own method.
+\item[ec\_domain\_add\_datagram()] This methods allocates a datagram
+ and appends it to the list. This is done during domain allocation.
+\end{description}
+
+\paragraph{Domain Methods (Realtime Interface)}
+
+The domain methods belonging to the realtime interface are introduced
+in section~\ref{sec:ecrt-domain}.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Finite State Machine Class}
+\label{sec:class-fsm}
+\index{FSM!Class}
+
+This class encapsules all state machines, except the EoE state
+machine. Its UML class diagram can be seen in
+figure~\ref{fig:uml-fsm}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/uml-fsm}
+ \caption{Finite State Machine UML class diagram}
+ \label{fig:uml-fsm}
+\end{figure}
+
+\paragraph{FSM Attributes}
+
+\begin{description}
+\item[master] A pointer to the master owning the FSM object.
+\item[slave] Serveral sub state machines are executed for single
+ slaves. This pointer stores the current slave for these FSMs.
+\item[datagram] The FSM class has its own datagram, which is used in
+ every state and sub-state.
+\item[master\_state] This function pointer stores the current state
+ function for one of the master's state machines.
+\item[master\_slaves\_responding] This attribute is used in the
+ operation state machine (see section~\ref{sec:fsm-op}) to store the
+ number of slaves, that responded to the last broadcast command.
+\item[master\_slave\_states] This attribute stores the slave states,
+ that were determined by the last broadcast command.
+\item[master\_validation] This flag is used by the operation state
+ machine and is non-zero, if a bus validation has to be done.
+\item[slave\_state] This function pointer stores the current state of
+ the slave scan state machine (see section~\ref{sec:fsm-scan}) or the
+ slave configuration state machine (see section~\ref{sec:fsm-conf}).
+\item[sii\_state] This function pointer stores the current state of
+ the SII state machine (see section~\ref{sec:fsm-sii}).
+\item[sii\_offset] This attribute is used by the SII state machine to
+ store the word address for the current read or write cycle.
+\item[sii\_mode] If this attribute is zero, the SII access is done
+ with ``auto-increment'' datagrams \cite[section~5.4]{dlspec}.
+ If it is non-zero, ``station-address'' datagrams are used.
+\item[sii\_value] This attribute stores the value to write, or the
+ read value, respectively.
+\item[sii\_start] A timestamp attribute, that stores the beginning
+ time of an SII operation to detect a timeout.
+\item[change\_state] This function pointer stores the current state of
+ the state change state machine.
+\item[change\_new] This attribute stores the requested state for the
+ state change state machine.
+\item[change\_start] A timestamp attribute to detect a timeout while
+ changing slave states.
+\item[coe\_state] This function pointer stores the current state of
+ the CoE state machines.
+\item[sdodata] This is an SDO data object that stores information
+ about the current SDO to write.
+\item[coe\_start] A timestamp attribute to detect timeouts during CoE
+ configuration.
+\end{description}
+
+\paragraph{Public FSM Methods}
+
+\begin{description}
+\item[ec\_fsm\_init()] Constructor of the FSM class.
+\item[ec\_fsm\_clear()] Destructor of the FSM class.
+\item[ec\_fsm\_reset()] Resets the whole FSM object. This is needed to
+ restart the master state machines.
+\item[ec\_fsm\_execute()] Executes one state of the current state
+ machine and then returns.
+\item[ec\_fsm\_startup()] Initializes the master startup state
+ machine, which determines the number of slaves and executes the
+ slave scan state machine for each slave.
+\item[ec\_fsm\_startup\_running()] Returns non-zero, if the startup
+ state machine did not terminate yet.
+\item[ec\_fsm\_startup\_success()] Returns non-zero, if the startup
+ state machine terminated with success.
+\item[ec\_fsm\_configuration()] Initializes the master configuration
+ state machine, which executes the slave configuration state machine
+ for each slave.
+\item[ec\_fsm\_configuration\_running()] Returns non-zero, if the
+ configuration state machine did not terminate yet.
+\item[ec\_fsm\_configuration\_success()] Returns non-zero, if the
+ configuration state machine terminated with success.
+\end{description}
+
+\paragraph{FSM State Methods}
+
+The rest of the methods showed in the UML class diagram are state
+methods of the state machines. These states are described in
+section~\ref{sec:fsm}.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The EoE Class}
+\label{sec:class-eoe}
+\index{EoE!Class}
+
+Objects of the \textit{ec\_eoe\_t} class are called EoE handlers. Each
+EoE handler represents a virtual network interface and can be coupled
+to a EoE-capable slave on demand. The UML class diagram can be seen in
+figure~\ref{fig:uml-eoe}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.4\textwidth]{images/uml-eoe}
+ \caption{EoE UML class diagram}
+ \label{fig:uml-eoe}
+\end{figure}
+
+\paragraph{EoE Attributes}
+
+\begin{description}
+\item[list] The master class maintains a list of EoE handlers.
+ Therefore this list anchor is needed.
+\item[slave] If an EoE handler is coupled to a slave, this pointer
+ points to the related slave object. Otherwise it is \textit{NULL}.
+\item[datagram] Every EoE handler owns a datagram object to exchange
+ data with the coupled slave via its state machine.
+\item[state] This function pointer points to the current state of the
+ EoE state machine (see section~\ref{sec:eoeimp}).
+\item[dev] A pointer to the \textit{net\_device} structure that
+ represents the network interface to the kernel.
+\item[stats] The statistics object for the network interface.
+\item[opened] This flag stores, if the network interface was opened.
+ No EoE processing will be done, if the device is not opened.
+\item[t\_last] This timestamp attribute stores the time of the last
+ bit rate measurement.
+\item[rx\_skb] A pointer to the current receive socket buffer. On
+ every first fragment of a received frame, a new receive socket
+ buffer is allocated. On every last fragment, this buffer will be
+ passed to the network stack.
+\item[rx\_skb\_offset] This attribute stores the offset for the next
+ fragment data in the receive socket buffer.
+\item[rx\_skb\_size] This attribute stores the current data size of
+ the receive socket buffer.
+\item[rx\_expected\_fragment] The expected number of the next
+ fragment. If a fragment with an invalid number is received, the
+ whole frame will be dropped.
+\item[rx\_counter] This is the sum of the octets received since the
+ last bit rate measurement.
+\item[rx\_rate] This attribute stores the receive bit rate in bps.
+\item[tx\_queue] Each EoE handler maintains a transmittion queue for
+ frames, that come in via the network interface. This queue is
+ implemented with a linked list and protected by a spinlock.
+\item[tx\_queue\_active] This flag stores, if the transmittion queue
+ is currently accepting frames from the network stack. If the queue
+ gets filled up, frame transmittion is suspended with a call to
+ \textit{netif\_stop\_queue()}. If the fill state decreases below the
+ half capacity, frame transmittion is restarted with
+ \textit{netif\_wake\_queue()}.
+\item[tx\_queued\_frames] The number of frames in the transmittion
+ queue.
+\item[tx\_queue\_lock] The spinlock used to protect the transmittion
+ queue. This is needed, because the queue is accessed both from
+ network stack context and from the master's EoE timer.
+\item[tx\_frame] The frame that is currently sent. The
+ \textit{ec\_eoe\_frame\_t} structure combines the socket buffer
+ structure with a list head to append it to the transmittion queue.
+\item[tx\_frame\_number] The EoE protocol demands to maintain a
+ sequencial frame number, that must be increased with every frame
+ sent.
+\item[tx\_fragment\_number] The sequencial number of the next fragment
+ to transmit.
+\item[tx\_offset] Current frame data offset for the next fragment to
+ transmit.
+\item[tx\_counter] The number of octets transferred since the last bit
+ rate measurement.
+\item[tx\_rate] The recent transmittion bit rate in bps.
+\end{description}
+
+\paragraph{Public EoE Methods}
+
+\begin{description}
+\item[ec\_eoe\_init()] The EoE handler's constructor. The network
+ interface is allocated and registered.
+\item[ec\_eoe\_clear()] The EoE handler's destructor. The network
+ interface is unregistered and all allocated memory is freed.
+\item[ec\_eoe\_run()] Executes the EoE state machine (see
+ section~\ref{sec:eoeimp}) for this handler.
+\item[ec\_eoe\_active()] Returns true, if the handler has a slave
+ coupled and the network interface is opened.
+\end{description}
+
+\paragraph{Private EoE Methods}
+
+\begin{description}
+\item[ec\_eoe\_flush()] Clears the transmittion queue and drops all
+ frames queued for sending.
+\item[ec\_eoe\_send()] Sends one fragment of the current frame.
+\end{description}
+
+
+\paragraph{EoE State Methods}
+
+The rest of the private methods are state functions for the EoE state
+machine, which is discussed in section~\ref{sec:eoeimp}.
+
+%------------------------------------------------------------------------------
+
+\subsubsection{The Debug Class}
+\label{sec:class-debug}
+
+The debug class maintains a virtual network interface. All frames that
+are sent and received by the master will be forwarded to this network
+interface, so that bus monitoring can be done with third party tools
+(see section~\ref{sec:debug}). Figure~\ref{fig:uml-debug} shows the
+UML class diagram.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.3\textwidth]{images/uml-debug}
+ \caption{Debug UML class diagram}
+ \label{fig:uml-debug}
+\end{figure}
+
+\paragraph{Debug Attributes}
+
+\begin{description}
+\item[dev] A pointer to the allocated \textit{net\_device} structure
+ that represents the network interface in the kernel.
+\item[stats] An object for interface statistics.
+\item[opened] Stores the state of the device. Frames will only be
+ forwarded, if the device was opened with the \textit{ifconfig up}
+ command (or something similar).
+\end{description}
+
+\paragraph{Public Debug Methods}
+
+\begin{description}
+\item[ec\_debug\_init()] The constructor.
+\item[ec\_debug\_clear()] The destructor.
+\item[ec\_debug\_send()] This method forwards a frame to the virtual
+ network interface. It dynamically allocates a new socket buffer and
+ passes it to the network stack.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The Realtime Interface}
+\label{sec:ecrt}
+\index{Realtime interface}
+
+The realtime interface provides functions and data structures for
+realtime modules to access and use an EtherCAT master.
+
+\subsubsection{Master Requesting and Releasing}
+
+Before a realtime module can access am EtherCAT master provided by the
+master module, it has to reserve one for exclusive use. After use, it
+has to release the requested master and make it available for other
+modules. This is done with the following functions:
+
+\begin{lstlisting}[language=C]
+ ec_master_t *ecrt_request_master(unsigned int master_index);
+ void ecrt_release_master(ec_master_t *master);
+\end{lstlisting}
+
+The \textit{ecrt\_request\_master()} function has to be the first
+function a module has to call, when using EtherCAT. The function takes
+the index of the master as its argument. The first master has index 0,
+the $n$th master has index $n - 1$. The number of existent masters has
+to be specified when loading the master module (see
+section~\ref{sec:mastermod}). The function tries to reserve the
+specified master and scans for slaves. It returns a pointer to the
+reserved master object upon success, or \textit{NULL} if an error
+occured.
+
+The \textit{ecrt\_release\_master()} function releases a reserved
+master after use. It takes the pointer to the master object returned
+by \textit{ecrt\_request\_master()} as its argument and can never
+fail.
+
+\subsubsection{Master Methods}
+\label{sec:ecrt-master}
+
+\paragraph{Domain Creation}
+
+For process data exchange, at least one process data domain is needed
+(see section~\ref{sec:processdata}).
+
+\begin{lstlisting}[language=C]
+ ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
+\end{lstlisting}
+
+The \textit{ecrt\_master\_create\_domain()} method creates a new
+process data domain and returns a pointer to the new domain object.
+This object can be used for registering process data objects and
+exchange process data in cyclic operation. On failure, the function
+returns \textit{NULL}.
+
+\paragraph{Slave Handlers}
+
+To access a certain slave, there is a method to get a slave handler:
+
+\begin{lstlisting}[language=C]
+ ec_slave_t *ecrt_master_get_slave(const ec_master_t *,
+ const char *);
+\end{lstlisting}
+
+The \textit{ecrt\_master\_get\_slave()} method returns a pointer to a
+certain slave object, specified by its ASCII address (see
+section~\ref{sec:addr}). If the address is invalid, \textit{NULL} is
+returned.
+
+\paragraph{Master Activation}
+
+When all domains are created, and all process data objects are
+registered, the master can be activated:
+
+\begin{lstlisting}[language=C]
+ int ecrt_master_activate(ec_master_t *master);
+ void ecrt_master_deactivate(ec_master_t *master);
+\end{lstlisting}
+
+By calling the \textit{ecrt\_master\_activate()} method, all slaves
+are configured according to the prior method calls and are brought
+into \textit{OP} state. In this case, the method has a return value of
+0. Otherwise (wrong configuration or bus failure) the method returns
+non-zero.
+
+The \textit{ecrt\_master\_deactivate()} method is the counterpart to
+the activate call: It brings all slaves back into \textit{INIT} state
+again. This method should be called prior to
+\textit{ecrt\_\-master\_\-release()}.
+
+\paragraph{Locking Callbacks}
+
+For concurrent master access, the realtime module has to provide a
+locking mechanism (see section~\ref{sec:concurr}):
+
+\begin{lstlisting}[language=C]
+ void ecrt_master_callbacks(ec_master_t *master,
+ int (*request_cb)(void *),
+ void (*release_cb)(void *),
+ void *cb_data);
+\end{lstlisting}
+
+The ``request lock'' and ``release lock'' callbacks can be set with
+the \textit{ecrt\_master\_call\-backs()} method. It takes two function
+pointers and a data value as additional arguments. The arbitrary data
+value will be passed as argument on every callback. Asynchronous
+master access (like EoE processing) is only possible if these
+callbacks have been set.
+
+\paragraph{Preparation of Cyclic Data Exchange}
+
+Cyclic operation mostly consists of the three steps input, processing
+and output. In EtherCAT terms this would mean: Receive datagrams,
+evaluate process data and send datagrams. The first cycle differs from
+this principle, because no datagrams have been sent yet, so there is
+nothing to receive. To avoid having a case differantiation (in terms
+of an \textit{if} clause), the following method exists:
+
+\begin{lstlisting}[language=C]
+ void ecrt_master_prepare(ec_master_t *master);
+\end{lstlisting}
+
+As a last thing before cyclic operation, a call to the
+\textit{ecrt\_master\_prepare()} method should be issued. It makes all
+process data domains queue their datagrams and issues a send command,
+so that the first receive call in cyclic operation will not fail.
+
+\paragraph{Frame Sending and Receiving}
+
+To send all queued datagrams and to later receive the sent datagrams
+there are two methods:
+
+\begin{lstlisting}[language=C]
+ void ecrt_master_send(ec_master_t *master);
+ void ecrt_master_receive(ec_master_t *master);
+\end{lstlisting}
+
+The \textit{ecrt\_master\_send()} method takes all datagrams, that
+have been queued for transmission, packs them into frames, and passes
+them to the network device for sending.
+
+The \textit{ecrt\_master\_receive()} queries the network device for
+received frames (by calling the ISR\index{ISR}), extracts received
+datagrams and dispatches the results to the datagram objects in the
+queue. Received datagrams, and the ones that timed out, will be
+marked, and then dequeued.
+
+\paragraph{Running the Operation State Machine}
+
+The master's operation state machine (see section~\ref{sec:fsm-op})
+monitors the bus in cyclic operation and reconfigures slaves, if
+necessary. Therefore, the following method should be called
+cyclically:
+
+\begin{lstlisting}[language=C]
+ void ecrt_master_run(ec_master_t *master);
+\end{lstlisting}
+
+The \textit{ecrt\_master\_run()} method executes the master's
+operation state machine step by step. It returns after processing one
+state and queuing a datagram. Calling this function is not mandatory,
+but highly recommended.
+
+\paragraph{Master Monitoring}
+
+It is also highly recommended to evaluate the master's error state. In
+this way it is possible to notice lost network links, failed bus
+segments, and other issues:
+
+\begin{lstlisting}[language=C]
+ int ecrt_master_state(const ec_master_t *master);
+\end{lstlisting}
+
+The \textit{ecrt\_master\_state()} method returns the master's error
+state. The following states are defined as part of the realtime
+interface:
+
+\begin{description}
+\item[EC\_MASTER\_OK] means, that no error has occurred.
+\item[EC\_MASTER\_LINK\_ERROR] means, that the network link is
+ currently down.
+\item[EC\_MASTER\_BUS\_ERROR] means, that one or more slaves do not
+ respond.
+\end{description}
+
+\subsubsection{Domain Methods}
+\label{sec:ecrt-domain}
+
+\paragraph{PDO Registration}
+
+To access data of a slave's PDO in cyclic operation, it is necessary
+to make it part of a process data domain:
+
+\begin{lstlisting}[language=C]
+ ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
+ const char *address,
+ uint32_t vendor_id,
+ uint32_t product_code,
+ const char *pdo_name
+ void **data_ptr);
+ int ecrt_domain_register_pdo_list(ec_domain_t *domain,
+ const ec_pdo_reg_t *pdos);
+\end{lstlisting}
+
+The \textit{ecrt\_domain\_register\_pdo()} method registers a certain
+PDO as part of the domain and takes the address of the process data
+pointer. This pointer will be set on master activation and then can be
+parameter to the \textit{EC\_READ\_*} and \textit{EC\_WRITE\_*} macros
+described below.
+
+A perhaps easier way to register multiple PDOs at the same time is to
+fill an array of \textit{ec\_pdo\_reg\_t} and hand it to the
+\textit{ecrt\_domain\_register\_pdo\_list()} method. Attention: This
+array has to be terminated by an empty structure (\textit{\{\}})!
+
+\paragraph{Evaluating Domain Data}
+
+To evaluate domain data, the following method has to be used:
+
+\begin{lstlisting}[language=C]
+ void ecrt_domain_process(ec_domain_t *domain);
+\end{lstlisting}
+
+The \textit{ecrt\_domain\_process()} method sets the domains state and
+requeues its datagram for sending.
+
+\paragraph{Domain State}
+
+Similar to the master state, a domain has an own error state:
+
+\begin{lstlisting}[language=C]
+ int ecrt_domain_state(const ec_domain_t *domain);
+\end{lstlisting}
+
+The \textit{ecrt\_domain\_state()} method returns the domain's error
+state. It is non-zero if \underline{not} all process data values could
+be exchanged, and zero otherwise.
+
+\subsubsection{Slave Methods}
+\label{sec:ecrt-slave}
+
+\paragraph{SDO Configuration}
+
+To configure slave SDOs, the function interface below can be used:
+
+\begin{lstlisting}[language=C]
+ int ecrt_slave_conf_sdo8(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint8_t value);
+ int ecrt_slave_conf_sdo16(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint16_t value);
+ int ecrt_slave_conf_sdo32(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value);
+\end{lstlisting}
+
+The \textit{ecrt\_slave\_conf\_sdo*()} methods prepare the
+configuration of a certain SDO. The index and subindex of the SDO, and
+the value have to be specified. The configuration is done each time,
+the slave is reconfigured. The methods only differ in the SDO's data
+type. If the configuration could be prepared, zero is returned. If an
+error occured, non-zero is returned.
+
+\paragraph{Variable-sized PDOs}
+
+For specifying the size of variable-sized PDOs, the following method
+can be used:
+
+\begin{lstlisting}[language=C]
+ int ecrt_slave_pdo_size(ec_slave_t *slave,
+ const char *pdo_name,
+ size_t size);
+\end{lstlisting}
+
+The \textit{ecrt\_slave\_pdo\_size()} method takes the name of the PDO
+and the size. It returns zero on success, otherwise non-zero.
+
+\subsubsection{Process Data Access}
+\label{sec:macros}
+
+The endianess of the process data could differ from that of the CPU.
+Therefore, process data access has to be done by the macros below,
+that are also provided by the realtime interface:
+
+\begin{lstlisting}[language=C]
+ #define EC_READ_BIT(DATA, POS)
+ #define EC_WRITE_BIT(DATA, POS, VAL)
+
+ #define EC_READ_U8(DATA)
+ #define EC_READ_S8(DATA)
+ #define EC_READ_U16(DATA)
+ #define EC_READ_S16(DATA)
+ #define EC_READ_U32(DATA)
+ #define EC_READ_S32(DATA)
+
+ #define EC_WRITE_U8(DATA, VAL)
+ #define EC_WRITE_S8(DATA, VAL)
+ #define EC_WRITE_U16(DATA, VAL)
+ #define EC_WRITE_S16(DATA, VAL)
+ #define EC_WRITE_U32(DATA, VAL)
+ #define EC_WRITE_S32(DATA, VAL)
+\end{lstlisting}
+
+There are macros for bitwise access (\textit{EC\_READ\_BIT()},
+\textit{EC\_WRITE\_BIT()}), and bytewise access
+(\textit{EC\_READ\_*()}, \textit{EC\_WRITE\_*()}). The bytewise macros
+carry the data type in their name. Example: \textit{EC\_WRITE\_S16()}
+writes a 16 bit signed value to EtherCAT data. The \textit{DATA}
+parameter is supposed to be a process data pointer, as provided at PDO
+registration.
+
+The macros use the kernel's endianess conversion macros, that are
+preprocessed to empty macros in case of equal endianess. This is the
+definition for the \textit{EC\_\-READ\_\-U16()} macro:
+
+\begin{lstlisting}[language=C]
+ #define EC_READ_U16(DATA) \
+ ((uint16_t) le16_to_cpup((void *) (DATA)))
+\end{lstlisting}
+
+The \textit{le16\_to\_cpup()} macro converts a little-endian, 16 bit
+value to the CPU's architecture and takes a pointer to the input value
+as its argument. If the CPU's architecture is little-endian, too (for
+example on X86 and compatible), nothing has to be converted. In this
+case, the macro is replaced with an empty macro by the preprocessor
+and so there is no unneeded function call or case differentiation in
+the code.
+
+For keeping it portable, it is highly recommended to make use of these
+macros.
+
+%------------------------------------------------------------------------------
+
+\subsection{Slave Addressing}
+\label{sec:addr}
+\index{Slave!Addressing}
+
+The master offers the serveral slave addressing schemes (for PDO
+registration or configuration) via the realtime interface. For this
+reason, slave addresses are ASCII\nomenclature{ASCII}{American
+ Standard Code for Information Interchange}-coded and passed as a
+string. The addressing schemes are independent of the EtherCAT
+protocol and represent an additional feature of the master.
+
+Below, the allowed addressing schemes are described. The descriptions
+are followed by a regular expression formally defining the addressing
+scheme, and one or more examples.
+
+\begin{description}
+\item[Position Addressing] This is the normal addressing scheme, where
+ each slave is addressed by its ring position. The first slave has
+ address 0, and the $n$th slave has address $n - 1$. This addressing
+ scheme is useful for small busses that have a fixed number of slaves.\\
+ RegEx: \texttt{[0-9]+} --- Example: \texttt{"42"}
+\item[Advanced Position Addressing] Bus couplers segment the bus into
+ (physical) blocks. Though the logical ring positions keep being the
+ same, it is easier to address a slave with its block number and the
+ relative position inside the block. This addressing is done by
+ passing the (zero-based) index of the bus coupler (not the coupler's
+ ring position), followed by a colon and the relative position of the
+ actual slave starting at the bus coupler.\\
+ RegEx: \texttt{[0-9]+:[0-9]+} --- Examples: \texttt{"0:42"},
+ \texttt{"2:7"}
+\item[Alias Addressing] Each slave can have a ``secondary slave
+ address'' or ``alias address''\footnote{Information about how to set
+ the alias can be found in section~\ref{sec:eepromaccess}} stored
+ in its E$^2$PROM. The alias is evaluated by the master and can be
+ used to address the slave, which is useful when a clearly defined
+ slave has to be addressed and the ring position is not known or can
+ change over time. This scheme is used by starting the address string
+ with a mesh (\#) followed by the alias address. The latter can also
+ be provided as hexadecimal value, prefixed with \textit{0x}.\\
+ RegEx: \texttt{\#(0x[0-9A-F]+|[0-9]+)} --- Examples:
+ \texttt{"\#6622"}, \texttt{"\#0xBEEF"}
+\item[Advanced Alias Addressing] This is a mixture of the ``Alias
+ Addressing'' and ``Advanced Position Addressing'' schemes. A certain
+ slave is addressed by specifying its relative position after an
+ aliased slave. This is very useful, if a complete block of slaves
+ can vary its position in the bus. The bus coupler preceeding the
+ block should get an alias. The block slaves can then be addressed by
+ specifying this alias and their position inside the block. This
+ scheme is used by starting the address string with a mesh (\#)
+ followed by the alias address (which can be hexadecimal), then a
+ colon and the relative posision of the slave to
+ address.\\
+ RegEx: \texttt{\#(0x[0-9A-F]+|[0-9]+):[0-9]+} --- Examples:
+ \texttt{"\#0xBEEF:7"}, \texttt{"\#6:2"}
+\end{description}
+
+In anticipation of section~\ref{sec:ecrt}, the functions accepting
+these address strings are \textit{ecrt\_\-master\_\-get\_slave()},
+\textit{ecrt\_domain\_register\_pdo()} and
+\textit{ecrt\_domain\_register\_pdo\_list()} (the latter through the
+\textit{ec\_pdo\_reg\_t} structure).
+
+%------------------------------------------------------------------------------
+
+\subsection{Concurrent Master Access}
+\label{sec:concurr}
+\index{Concurrency}
+
+In some cases, one master is used by serveral instances, for example
+when a realtime module does cyclic process data exchange, and there
+are EoE-capable slaves that require to exchange Ethernet data with the
+kernel (see section~\ref{sec:eoeimp}). For this reason, the master is
+a shared resource, and access to it has to be sequenctialized. This is
+usually done by locking with semaphores, or other methods to protect
+critical sections.
+
+The master itself can not provide locking mechanisms, because it has
+no chance to know the appropriate kind of lock. Imagine, the realtime
+module uses RTAI functionality, then ordinary kernel semaphores would
+not be sufficient. For that, an important design decision was made:
+The realtime module that reserved a master must have the total
+control, therefore it has to take responsibility for providing the
+appropriate locking mechanisms. If another instance wants to access
+the master, it has to request the master lock by callbacks, that have
+to be set by the realtime module. Moreover the realtime module can
+deny access to the master if it consideres it to be awkward at the
+moment.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.6\textwidth]{images/master-locks}
+ \caption{Concurrent master access}
+ \label{fig:locks}
+\end{figure}
+
+Figure~\ref{fig:locks} exemplary shows, how two processes share one
+master: The realtime module's cyclic thread uses the master for
+process data exchange, while the master-internal EoE process uses it
+to communicate with EoE-capable slaves. Both have to aquire the master
+lock before access: The realtime thread can access the lock natively,
+while the EoE process has to use the master callbacks.
+Section~\ref{sec:concurrency} gives an example, of how to implement
+this.
+
+%------------------------------------------------------------------------------
+
+\section{The Master's State Machines}
+\label{sec:fsm}
+\index{FSM}
+
+Many parts of the EtherCAT master are implemented as \textit{finite
+ state machines} (FSMs\nomenclature{FSM}{Finite State Machine}).
+Though this leads to a higher grade of complexity in some aspects, is
+opens many new possibilities.
+
+The below short code example exemplary shows how to read all slave
+states and moreover illustrates the restrictions of ``sequential''
+coding:
+
+\begin{lstlisting}[language=C,numbers=left]
+ ec_datagram_brd(datagram, 0x0130, 2); // prepare datagram
+ if (ec_master_simple_io(master, datagram)) return -1;
+ slave_states = EC_READ_U8(datagram->data); // process datagram
+\end{lstlisting}
+
+The \textit{ec\_master\_simple\_io()} function provides a simple
+interface for synchronously sending a single datagram and receiving
+the result\footnote{For all communication issues have been meanwhile
+ sourced out into state machines, the function is deprecated and
+ stopped existing. Nevertheless it is adequate for showing it's own
+ restrictions.}. Internally, it queues the specified datagram,
+invokes the \textit{ec\_master\_send\_datagrams()} function to send a
+frame with the queued datagram and then waits actively for its
+reception.
+
+This sequential approach is very simple, reflecting in only three
+lines of code. The disadvantage is, that the master is blocked for the
+time it waits for datagram reception. There is no difficulty when only
+one instance is using the master, but if more instances want to
+(synchronously\footnote{At this time, synchronous master access will
+ be adequate to show the advantages of an FSM. The asynchronous
+ approach will be discussed in section~\ref{sec:eoeimp}}) use the
+master, it is inevitable to think about an alternative to the
+sequential model.
+
+Master access has to be sequentialized for more than one instance
+wanting to send and receive datagrams synchronously. With the present
+approach, this would result in having one phase of active waiting for
+each instance, which would be non-acceptable especially in realtime
+circumstances, because of the huge time overhead.
+
+A possible solution is, that all instances would be executed
+sequentially to queue their datagrams, then give the control to the
+next instance instead of waiting for the datagram reception. Finally,
+bus IO is done by a higher instance, which means that all queued
+datagrams are sent and received. The next step is to execute all
+instances again, which then process their received datagrams and issue
+new ones.
+
+This approach results in all instances having to retain their state,
+when giving the control back to the higher instance. It is quite
+obvious to use a \textit{finite state machine} model in this case.
+Section~\ref{sec:fsmtheory} will introduce some of the theory used,
+while the listings below show the basic approach by coding the example
+from above as a state machine:
+
+\begin{lstlisting}[language=C,numbers=left]
+ // state 1
+ ec_datagram_brd(datagram, 0x0130, 2); // prepare datagram
+ ec_master_queue(master, datagram); // queue datagram
+ next_state = state_2;
+ // state processing finished
+\end{lstlisting}
+
+After all instances executed their current state and queued their
+datagrams, these are sent and received. Then the respective next
+states are executed:
+
+\begin{lstlisting}[language=C,numbers=left]
+ // state 2
+ if (datagram->state != EC_DGRAM_STATE_RECEIVED) {
+ next_state = state_error;
+ return; // state processing finished
+ }
+ slave_states = EC_READ_U8(datagram->data); // process datagram
+ // state processing finished.
+\end{lstlisting}
+
+See section~\ref{sec:statemodel} for an introduction to the
+state machine programming concept used in the master code.
+
+%------------------------------------------------------------------------------
+
+\subsection{State Machine Theory}
+\label{sec:fsmtheory}
+\index{FSM!Theory}
+
+A finite state machine \cite{automata} is a model of behavior with
+inputs and outputs, where the outputs not only depend on the inputs,
+but the history of inputs. The mathematical definition of a finite
+state machine (or finite automaton) is a six-tuple $(\Sigma, \Gamma,
+S, s_0, \delta, \omega)$, with
+
+\begin{itemize}
+\item the input alphabet $\Sigma$, with $\Sigma \neq
+ \emptyset$, containing all input symbols,
+\item the output alphabet $\Gamma$, with $\Gamma \neq
+ \emptyset$, containing all output symbols,
+\item the set of states $S$, with $S \neq \emptyset$,
+\item the set of initial states $s_0$ with $s_0 \subseteq S, s_0 \neq
+ \emptyset$
+\item the transition function $\delta: S \times \Sigma \rightarrow S
+ \times \Gamma$
+\item the output function $\omega$.
+\end{itemize}
+
+The state transition function $\delta$ is often specified by a
+\textit{state transition table}, or by a \textit{state transition
+ diagram}. The transition table offers a matrix view of the state
+machine behavior (see table~\ref{tab:statetrans}). The matrix rows
+correspond to the states ($S = \{s_0, s_1, s_2\}$) and the columns
+correspond to the input symbols ($\Gamma = \{a, b, \varepsilon\}$).
+The table contents in a certain row $i$ and column $j$ then represent
+the next state (and possibly the output) for the case, that a certain
+input symbol $\sigma_j$ is read in the state $s_i$.
+
+\begin{table}[htbp]
+ \caption{A typical state transition table}
+ \label{tab:statetrans}
+ \vspace{2mm}
+ \centering
+ \begin{tabular}{l|ccc}
+ & $a$ & $b$ & $\varepsilon$\\ \hline
+ $s_0$ & $s_1$ & $s_1$ & $s_2$\\
+ $s_1$ & $s_2$ & $s_1$ & $s_0$\\
+ $s_2$ & $s_0$ & $s_0$ & $s_0$\\ \hline
+ \end{tabular}
+\end{table}
+
+The state diagram for the same example looks like the one in
+figure~\ref{fig:statetrans}. The states are represented as circles or
+ellipses and the transitions are drawn as arrows between them. Close
+to a transition arrow can be the condition that must be fulfilled to
+allow the transition. The initial state is marked by a filled black
+circle with an arrow pointing to the respective state.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.5\textwidth]{images/statetrans}
+ \caption{A typical state transition diagram}
+ \label{fig:statetrans}
+\end{figure}
+
+\paragraph{Deterministic and non-deterministic state machines}
+
+A state machine can be deterministic, meaning that for one state and
+input, there is one (and only one) following state. In this case, the
+state machine has exactly one starting state. Non-deterministic state
+machines can have more than one transitions for a single state-input
+combination. There is a set of starting states in the latter case.
+
+\paragraph{Moore and Mealy machines}
+
+There is a distinction between so-called \textit{Moore machines}, and
+\textit{Mealy machines}. Mathematically spoken, the distinction lies
+in the output function $\omega$: If it only depends on the current
+state ($\omega: S \rightarrow \Gamma$), the machine corresponds to the
+``Moore Model''. Otherwise, if $\omega$ is a function of a state and
+the input alphabet ($\omega: S \times \Sigma \rightarrow \Gamma$) the
+state machine corresponds to the ``Mealy model''. Mealy machines are
+the more practical solution in most cases, because their design allows
+machines with a minimum number of states. In practice, a mixture of
+both models is often used.
+
+\paragraph{Misunderstandings about state machines}
+
+There is a phenomenon called ``state explosion'', that is oftenly
+taken as a counter-argument against general use of state machines in
+complex environments. It has to be mentioned, that this point is
+misleading~\cite{fsmmis}. State explosions happen usually as a result
+of a bad state machine design: Common mistakes are storing the present
+values of all inputs in a state, or not dividing a complex state
+machine into simpler sub state machines. The EtherCAT master uses
+serveral state machines, that are executed hierarchically and so serve
+as sub state machines. These are also described below.
+
+%------------------------------------------------------------------------------
+
+\subsection{The Master's State Model}
+\label{sec:statemodel}
+
+This section will introduce the techniques used in the master to
+implement state machines.
+
+\paragraph{State Machine Programming}
+
+There are certain ways to implement a state machine in \textit{C}
+code. An obvious way is to implement the different states and actions
+by one big case differentiation:
+
+\begin{lstlisting}[language=C,numbers=left]
+ enum {STATE_1, STATE_2, STATE_3};
+ int state = STATE_1;
+
+ void state_machine_run(void *priv_data) {
+ switch (state) {
+ case STATE_1:
+ action_1();
+ state = STATE_2;
+ break;
+ case STATE_2:
+ action_2()
+ if (some_condition) state = STATE_1;
+ else state = STATE_3;
+ break;
+ case STATE_3:
+ action_3();
+ state = STATE_1;
+ break;
+ }
+ }
+\end{lstlisting}
+
+For small state machines, this is an option. The disadvantage is, that
+with an increasing number of states the code soon gets complex and an
+additional case differentiation is executed each run. Besides, lots of
+indentation is wasted.
+
+The method used in the master is to implement every state in an own
+function and to store the current state function with a function
+pointer:
+
+\begin{lstlisting}[language=C,numbers=left]
+ void (*state)(void *) = state1;
+
+ void state_machine_run(void *priv_data) {
+ state(priv_data);
+ }
+
+ void state1(void *priv_data) {
+ action_1();
+ state = state2;
+ }
+
+ void state2(void *priv_data) {
+ action_2();
+ if (some_condition) state = state1;
+ else state = state2;
+ }
+
+ void state3(void *priv_data) {
+ action_3();
+ state = state1;
+ }
+\end{lstlisting}
+
+In the master code, state pointers of all state machines\footnote{All
+ except for the EoE state machine, because multiple EoE slaves have
+ to be handled in parallel. For this reason each EoE handler object
+ has its own state pointer.} are gathered in a single object of the
+\textit{ec\_fsm\_t} class. This is advantageous, because there is
+always one instance of every state machine available and can be
+started on demand.
+
+\paragraph{Mealy and Moore}
+
+If a closer look is taken to the above listing, it can be seen that
+the actions executed (the ``outputs'' of the state machine) only
+depend on the current state. This accords to the ``Moore'' model
+introduced in section~\ref{sec:fsmtheory}. As mentioned, the ``Mealy''
+model offers a higher flexibility, which can be seen in the listing
+below:
+
+\begin{lstlisting}[language=C,numbers=left]
+ void state7(void *priv_data) {
+ if (some_condition) {
+ action_7a();
+ state = state1;
+ }
+ else {
+ action_7b();
+ state = state8;
+ }
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3} + \textcircled{\tiny 7}] The
+ state function executes the actions depending on the state
+ transition, that is about to be done.
+\end{description}
+
+The most flexible alternative is to execute certain actions depending
+on the state, followed by some actions dependent on the state
+transition:
+
+\begin{lstlisting}[language=C,numbers=left]
+ void state9(void *priv_data) {
+ action_9();
+ if (some_condition) {
+ action_9a();
+ state = state7;
+ }
+ else {
+ action_9b();
+ state = state10;
+ }
+ }
+\end{lstlisting}
+
+This model is oftenly used in the master. It combines the best aspects
+of both approaches.
+
+\paragraph{Using Sub State Machines}
+
+To avoid having too much states, certain functions of the EtherCAT
+master state machine have been sourced out into sub state machines.
+This helps to encapsule the related workflows and moreover avoids the
+``state explosion'' phenomenon described in
+section~\ref{sec:fsmtheory}. If the master would instead use one big
+state machine, the number of states would be a multiple of the actual
+number. This would increase the level of complexity to a
+non-manageable grade.
+
+\paragraph{Executing Sub State Machines}
+
+If a state machine starts to execute a sub state machine, it usually
+remains in one state until the sub state machine terminates. This is
+usually done like in the listing below, which is taken out of the
+slave configuration state machine code:
+
+\begin{lstlisting}[language=C,numbers=left]
+ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm)
+ {
+ fsm->change_state(fsm); // execute state change
+ // sub state machine
+
+ if (fsm->change_state == ec_fsm_error) {
+ fsm->slave_state = ec_fsm_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_end) return;
+
+ // continue state processing
+ ...
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] \textit{change\_state} is the
+ state pointer of the state change state machine. The state function,
+ the pointer points on, is executed\ldots
+\item[\normalfont\textcircled{\tiny 6}] \ldots either until the state
+ machine terminates with the error state \ldots
+\item[\normalfont\textcircled{\tiny 11}] \ldots or until the state
+ machine terminates in the end state. Until then, the ``higher''
+ state machine remains in the current state and executes the sub
+ state machine again in the next cycle.
+\end{description}
+
+\paragraph{State Machine Descriptions}
+
+The below sections describe every state machine used in the EtherCAT
+master. The textual descriptions of the state machines contain
+references to the transitions in the corresponding state transition
+diagrams, that are marked with an arrow followed by the name of the
+successive state. Transitions caused by trivial error cases (i.~e. no
+response from slave) are not described explicitly. These transitions
+are drawn as dashed arrows in the diagrams.
+
+%------------------------------------------------------------------------------
+
+\subsection{The Operation State Machine}
+\label{sec:fsm-op}
+\index{FSM!Operation}
+
+The Operation state machine is executed by calling the
+\textit{ecrt\_master\_run()} method in cyclic realtime code. Its
+purpose is to monitor the bus and to reconfigure slaves after a bus
+failure or power failure. Figure~\ref{fig:fsm-op} shows its transition
+diagram.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.8\textwidth]{images/fsm-op}
+ \caption{Transition diagram of the operation state machine}
+ \label{fig:fsm-op}
+\end{figure}
+
+\begin{description}
+\item[START] This is the beginning state of the operation state
+ machine. There is a datagram issued, that queries the ``AL Control
+ Response'' attribute \cite[section~5.3.2]{alspec} of all slaves via
+ broadcast. In this way, all slave states and the number of slaves
+ responding can be determined. $\rightarrow$~\textit{BROADCAST}
+
+\item[BROADCAST] The broadcast datagram is evaluated. A change in the
+ number of responding slaves is treates as a topology change. If the
+ number of slaves is not as expected, the bus is marked as
+ ``tainted''. In this state, no slave reconfiguration is possible,
+ because the assignment of known slaves and those present on the bus
+ is ambiguous. If the number of slaves is considered as right, the
+ bus is marked for validation, because it turned from tainted to
+ normal state and it has to be checked, if all slaves are valid. Now,
+ the state of every single slave has to be determined. For that, a
+ (unicast) datagram is issued, that queries the first slave's ``AL
+ Control Response'' attribute. $\rightarrow$~\textit{READ STATES}
+
+\item[READ STATES] If the current slave did not respond to its
+ configured station address, it is marked as offline, and the next
+ slave is queried. $\rightarrow$~\textit{READ STATES}
+
+ If the slave responded, it is marked as online and its current state
+ is stored. The next slave is queried. $\rightarrow$~\textit{READ
+ STATES}
+
+ If all slaves have been queried, and the bus is marked for
+ validation, the validation is started by checking the first slaves
+ vendor ID. $\rightarrow$~\textit{VALIDATE VENDOR}
+
+ If no validation has to be done, it is checked, if all slaves are in
+ the state they are supposed to be. If not, the first of slave with
+ the wrong state is reconfigured and brought in the required state.
+ $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ If all slaves are in the correct state, the state machine is
+ restarted. $\rightarrow$~\textit{START}
+
+\item[CONFIGURE SLAVES] The slave configuration state machine is
+ executed until termination. $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ If there are still slaves in the wrong state after another check,
+ the first of these slaves is configured and brought into the correct
+ state again. $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ If all slaves are in the correct state, the state machine is
+ restarted. $\rightarrow$~\textit{START}
+
+\item[VALIDATE VENDOR] The SII state machine is executed until
+ termination. If the slave has the wrong vendor ID, the state machine
+ is restarted. $\rightarrow$~\textit{START}
+
+ If the slave has the correct vendor ID, its product ID is queried.
+ $\rightarrow$~\textit{VALIDATE PRODUCT}
+
+\item[VALIDATE PRODUCT] The SII state machine is executed until
+ termination. If the slave has the wrong product ID, the state
+ machine is restarted. $\rightarrow$~\textit{START}
+
+ If the slave has the correct product ID, the next slave's vendor ID
+ is queried. $\rightarrow$~\textit{VALIDATE VENDOR}
+
+ If all slaves have the correct vendor IDs and product codes, the
+ configured station addresses can be safely rewritten. This is done
+ for the first slave marked as offline.
+ $\rightarrow$~\textit{REWRITE ADDRESSES}
+
+\item[REWRITE ADDRESSES] If the station address was successfully
+ written, it is sear\-ched for the next slave marked as offline. If
+ there is one, its address is reconfigured, too.
+ $\rightarrow$~\textit{REWRITE ADDRESSES}
+
+ If there are no more slaves marked as offline, the state machine is
+ restarted. $\rightarrow$~\textit{START}
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The Idle State Machine}
+\label{sec:fsm-idle}
+\index{FSM!Idle}
+
+The Idle state machine is executed by a kernel workqueue, if no
+realtime module is connected. Its purpose is to make slave information
+available to user space, operate EoE-capable slaves, read and write
+E$^2$PROM contents and test slave functionality.
+Figure~\ref{fig:fsm-idle} shows its transition diagram.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.8\textwidth]{images/fsm-idle}
+ \caption{Transition diagram of the idle state machine}
+ \label{fig:fsm-idle}
+\end{figure}
+
+\begin{description}
+\item[START] The beginning state of the idle state machine. Similar to
+ the operation state machine, a broadcast datagram is issued, to
+ query all slave states and the number of slaves.
+ $\rightarrow$~\textit{BROADCAST}
+
+\item[BROADCAST] The number of responding slaves is evaluated. If it
+ has changed since the last time, this is treated as a topology
+ change and the internal list of slaves is cleared and rebuild
+ completely. The slave scan state machine is started for the first
+ slave. $\rightarrow$~\textit{SCAN FOR SLAVES}
+
+ If no topology change happened, every single slave state is fetched.
+ $\rightarrow$~\textit{READ STATES}
+
+\item[SCAN FOR SLAVES] The slave scan state machine is executed until
+ termination. $\rightarrow$~\textit{SCAN FOR SLAVES}
+
+ If there is another slave to scan, the slave scan state machine is
+ started again. $\rightarrow$~\textit{SCAN FOR SLAVES}
+
+ If all slave information has been fetched, slave addresses are
+ calculated and EoE processing is started. Then, the state machine is
+ restarted. $\rightarrow$~\textit{START}
+
+\item[READ STATES] If the slave did not respond to the query, it is
+ marked as offline. The next slave is queried.
+ $\rightarrow$~\textit{READ STATES}
+
+ If the slave responded, it is marked as online. And the next slave
+ is queried. $\rightarrow$~\textit{READ STATES}
+
+ If all slave states have been determined, it is checked, if any
+ slaves are not in the state they supposed to be. If this is true,
+ the slave configuration state machine is started for the first of
+ them. $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ If all slaves are in the correct state, it is checked, if any
+ E$^2$PROM write operations are pending. If this is true, the first
+ pending operation is executed by starting the SII state machine for
+ writing access. $\rightarrow$~\textit{WRITE EEPROM}
+
+ If all these conditions are false, there is nothing to do and the
+ state machine is restarted. $\rightarrow$~\textit{START}
+
+\item[CONFIGURE SLAVES] The slave configuration state machine is
+ executed until termination. $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ After this, it is checked, if another slave needs a state change. If
+ this is true, the slave state change state machine is started for
+ this slave. $\rightarrow$~\textit{CONFIGURE SLAVES}
+
+ If all slaves are in the correct state, it is determined, if any
+ E$^2$PROM write operations are pending. If this is true, the first
+ pending operation is executed by starting the SII state machine for
+ writing access. $\rightarrow$~\textit{WRITE EEPROM}
+
+ If all prior conditions are false, the state machine is restarted.
+ $\rightarrow$~\textit{START}
+
+\item[WRITE EEPROM] The SII state machine is executed until
+ termination. $\rightarrow$~\textit{WRITE EEPROM}
+
+ If the current word has been written successfully, and there are
+ still word to write, the SII state machine is started for the next
+ word. $\rightarrow$~\textit{WRITE EEPROM}
+
+ If all words have been written successfully, the new E$^2$PROM
+ contents are evaluated and the state machine is restarted.
+ $\rightarrow$~\textit{START}
+
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The Slave Scan State Machine}
+\label{sec:fsm-scan}
+\index{FSM!Slave Scan}
+
+The slave scan state machine, which can be seen in
+figure~\ref{fig:fsm-slavescan}, leads through the process of fetching
+all slave information.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.6\textwidth]{images/fsm-slavescan}
+ \caption{Transition diagram of the slave scan state machine}
+ \label{fig:fsm-slavescan}
+\end{figure}
+
+\begin{description}
+\item[START] In the beginning state of the slave scan state machine,
+ the station address is written to the slave, which is always the
+ ring position~+~$1$. In this way, the address 0x0000 (default
+ address) is not used, which makes it easy to detect unconfigured
+ slaves. $\rightarrow$~\textit{ADDRESS}
+
+\item[ADDRESS] The writing of the station address is verified. After
+ that, the slave's ``AL Control Response'' attribute is queried.
+ $\rightarrow$~\textit{STATE}
+
+\item[STATE] The AL state is evaluated. A warning is output, if the
+ slave has still the \textit{Change} bit set. After that, the slave's
+ ``DL Information'' attribute is queried.
+ $\rightarrow$~\textit{BASE}
+
+\item[BASE] The queried base data are evaluated: Slave type, revision
+ and build number, and even more important, the number of supported
+ sync managers and FMMUs are stored. After that, the slave's data
+ link layer information is read from the ``DL Status'' attribute at
+ address 0x0110. $\rightarrow$~\textit{DATALINK}
+
+\item[DATALINK] In this state, the DL information is evaluated: This
+ information about the communication ports contains, if the link is
+ up, if the loop has been closed and if there is a carrier detected
+ on the RX side of each port.
+
+ Then, the state machine starts measuring the size of the slave's
+ E$^2$PROM contents. This is done by subsequently reading out each
+ category header, until the last category is reached (type 0xFFFF).
+ This procedure is started by querying the first category header at
+ word address 0x0040 via the SII state machine.
+ $\rightarrow$~\textit{EEPROM SIZE}
+
+\item[EEPROM SIZE] The SII state machine is executed until
+ termination. $\rightarrow$~\textit{EEPROM SIZE}
+
+ If the category type does not mark the end of the categories, the
+ position of the next category header is determined via the length of
+ the current category, and the SII state machine is started again.
+ $\rightarrow$~\textit{EEPROM SIZE}
+
+ If the size of the E$^2$PROM contents has been determined, memory is
+ allocated, to read all the contents. The SII state machine is
+ started to read the first word. $\rightarrow$~\textit{EEPROM DATA}
+
+\item[EEPROM DATA] The SII state machine is executed until
+ termination. $\rightarrow$~\textit{EEPROM DATA}
+
+ Two words have been read. If more than one word is needed, the two
+ words are written in the allocated memory. Otherwise only one word
+ (the last word) is copied. If more words are to read, the SII state
+ machine is started again to read the next two words.
+ $\rightarrow$~\textit{EEPROM DATA}
+
+ The complete E$^2$PROM contents have been read. The slave's identity
+ object and mailbox information are evaluated. Moreover the category
+ types STRINGS, GENERAL, SYNC and PDO are evaluated. The slave
+ scanning has been completed. $\rightarrow$~\textit{END}
+
+\item[END] Slave scanning has been finished.
+
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The Slave Configuration State Machine}
+\label{sec:fsm-conf}
+\index{FSM!Slave Configuration}
+
+The slave configuration state machine, which can be seen in
+figure~\ref{fig:fsm-slaveconf}, leads through the process of
+configuring a slave and bringing it to a certain state.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.6\textwidth]{images/fsm-slaveconf}
+ \caption{Transition diagram of the slave configuration state
+ machine}
+ \label{fig:fsm-slaveconf}
+\end{figure}
+
+\begin{description}
+\item[INIT] The state change state machine has been initialized to
+ bring the slave into the \textit{INIT} state. Now, the slave state
+ change state machine is executed until termination.
+ $\rightarrow$~\textit{INIT}
+
+ If the slave state change failed, the configuration has to be
+ aborted. $\rightarrow$~\textit{END}
+
+ The slave state change succeeded and the slave is now in
+ \textit{INIT} state. If this is the target state, the configuration
+ is finished. $\rightarrow$~\textit{END}
+
+ If the slave does not support any sync managers, the sync manager
+ configuration can be skipped. The state change state machine is
+ started to bring the slave into \textit{PREOP} state.
+ $\rightarrow$~\textit{PREOP}
+
+ Sync managers are configured conforming to the sync manager category
+ information provided in the slave's E$^2$PROM. The corresponding
+ datagram is issued. $\rightarrow$~\textit{SYNC}
+
+\item[SYNC] If the sync manager configuration datagram is accepted,
+ the sync manager configuration was successful. The slave may now
+ enter the \textit{PREOP} state, and the state change state machine
+ is started. $\rightarrow$~\textit{PREOP}
+
+\item[PREOP] The state change state machine is executed until
+ termination. $\rightarrow$~\textit{PREOP}
+
+ If the state change failed, the configuration has to be aborted.
+ $\rightarrow$~\textit{END}
+
+ If the \textit{PREOP} state was the target state, the configuration
+ is finished. $\rightarrow$~\textit{END}
+
+ If the slave supports no FMMUs, the FMMU configuration can be
+ skipped. If the slave has SDOs to configure, it is begun with
+ sending the first SDO. $\rightarrow$~\textit{SDO\_CONF}
+
+ If no SDO configurations are provided, the slave can now directly be
+ brought into the \textit{SAVEOP} state and the state change state
+ machine is started again. $\rightarrow$~\textit{SAVEOP}
+
+ Otherwise, all supported FMMUs are configured according to the PDOs
+ requested via the master's realtime interface. The appropriate
+ datagram is issued. $\rightarrow$~\textit{FMMU}
+
+\item[FMMU] The FMMU configuration datagram was accepted. If the slave
+ has SDOs to configure, it is begun with sending the first SDO.
+ $\rightarrow$~\textit{SDO\_CONF}
+
+ Otherwise, the slave can now be brought into the \textit{SAVEOP}
+ state. The state change state machine is started.
+ $\rightarrow$~\textit{SAVEOP}
+
+\item[SDO\_CONF] The CoE state machine is executed until termination.
+ $\rightarrow$~\textit{SDO\_CONF}
+
+ If another SDO has to be configured, a new SDO download sequence is
+ begun. $\rightarrow$~\textit{SDO\_CONF}
+
+ Otherwise, the slave can now be brought into the \textit{SAVEOP}
+ state. The state change state machine is started.
+ $\rightarrow$~\textit{SAVEOP}
+
+\item[SAVEOP] The state change state machine is executed until
+ termination. $\rightarrow$~\textit{SAVEOP}
+
+ If the state change failed, the configuration has to be aborted.
+ $\rightarrow$~\textit{END}
+
+ If the \textit{SAVEOP} state was the target state, the configuration
+ is finished. $\rightarrow$~\textit{END}
+
+ The slave can now directly be brought into the \textit{OP} state and
+ the state change state machine is started a last time.
+ $\rightarrow$~\textit{OP}
+
+\item[OP] The state change state machine is executed until
+ termination. $\rightarrow$~\textit{OP}
+
+ If the state change state machine terminates, the slave
+ configuration is finished, regardless of its success.
+ $\rightarrow$~\textit{END}
+
+\item[END] The termination state.
+
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The State Change State Machine}
+\label{sec:fsm-change}
+\index{FSM!State Change}
+
+The state change state machine, which can be seen in
+figure~\ref{fig:fsm-change}, leads through the process of changing a
+slave's state. This implements the states and transitions described in
+\cite[section~6.4.1]{alspec}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/fsm-change}
+ \caption{Transition diagram of the state change state machine}
+ \label{fig:fsm-change}
+\end{figure}
+
+\begin{description}
+\item[START] The beginning state, where a datagram with the state
+ change command is written to the slave's ``AL Control Request''
+ attribute. Nothing can fail. $\rightarrow$~\textit{CHECK}
+
+\item[CHECK] After the state change datagram has been sent, the ``AL
+ Control Response'' attribute is queried with a second datagram.
+ $\rightarrow$~\textit{STATUS}
+
+\item[STATUS] The read memory contents are evaluated: While the
+ parameter \textit{State} still contains the old slave state, the
+ slave is busy with reacting on the state change command. In this
+ case, the attribute has to be queried again.
+ $\rightarrow$~\textit{STATUS}
+
+ In case of success, the \textit{State} parameter contains the new
+ state and the \textit{Change} bit is cleared. The slave is in the
+ requested state. $\rightarrow$~\textit{END}
+
+ If the slave can not process the state change, the \textit{Change}
+ bit is set: Now the master tries to get the reason for this by
+ querying the \textit{AL Status Code} parameter.
+ $\rightarrow$~\textit{CODE}
+
+\item[END] If the state machine ends in this state, the slaves's state
+ change has been successful.
+
+\item[CODE] The status code query has been sent. Reading the
+ \textit{AL Status Code} might fail, because not all slaves support
+ this parameter. Anyway, the master has to acknowledge the state
+ change error by writing the current slave state to the ``AL Control
+ Request'' attribute with the \textit{Acknowledge} bit set.
+ $\rightarrow$~\textit{ACK}
+
+\item[ACK] After that, the ``AL Control Response'' attribute is
+ queried for the state of the acknowledgement.
+ $\rightarrow$~\textit{CHECK ACK}
+
+\item[CHECK ACK] If the acknowledgement has been accepted by the
+ slave, the old state is kept. Still, the state change was
+ unsuccessful. $\rightarrow$~\textit{ERROR}
+
+ If the acknowledgement is ignored by the slave, a timeout happens.
+ In any case, the overall state change was unsuccessful.
+ $\rightarrow$~\textit{ERROR}
+
+ If there is still now response from the slave, but the timer did not
+ run out yet, the slave's ``AL Control Response'' attribute is
+ queried again. $\rightarrow$~\textit{CHECK ACK}
+
+\item[ERROR] If the state machine ends in this state, the slave's
+ state change was unsuccessful.
+
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{The SII State Machine}
+\label{sec:fsm-sii}
+\index{FSM!SII}
+
+The SII\index{SII} state machine (shown in figure~\ref{fig:fsm-sii})
+implements the process of reading or writing E$^2$PROM data via the
+Slave Information Interface described in \cite[section~5.4]{alspec}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/fsm-sii}
+ \caption{Transition diagram of the SII state machine}
+ \label{fig:fsm-sii}
+\end{figure}
+
+\begin{description}
+\item[READ\_START] The beginning state for reading access, where the
+ read request and the requested address are written to the SII
+ attribute. Nothing can fail up to now.
+ $\rightarrow$~\textit{READ\_CHECK}
+
+\item[READ\_CHECK] When the SII read request has been sent
+ successfully, a timer is started. A check/fetch datagram is issued,
+ that reads out the SII attribute for state and data.
+ $\rightarrow$~\textit{READ\_FETCH}
+
+\item[READ\_FETCH] Upon reception of the check/fetch datagram, the
+ \textit{Read Operation} and \textit{Busy} parameters are checked:
+ \begin{itemize}
+ \item If the slave is still busy with fetching E$^2$PROM data into
+ the interface, the timer is checked. If it timed out, the reading
+ is aborted ($\rightarrow$~\textit{ERROR}), if not, the check/fetch
+ datagram is issued again. $\rightarrow$~\textit{READ\_FETCH}
+
+ \item If the slave is ready with reading data, these are copied from
+ the datagram and the read cycle is completed.
+ $\rightarrow$~\textit{END}
+ \end{itemize}
+\end{description}
+
+The write access states behave nearly the same:
+
+\begin{description}
+\item[WRITE\_START] The beginning state for writing access,
+ respectively. A write request, the target address and the data word
+ are written to the SII attribute. Nothing can fail.
+ $\rightarrow$~\textit{WRITE\_CHECK}
+
+\item[WRITE\_CHECK] When the SII write request has been sent
+ successfully, the timer is started. A check datagram is issued, that
+ reads out the SII attribute for the state of the write operation.
+ $\rightarrow$~\textit{WRITE\_CHECK2}
+
+\item[WRITE\_CHECK2] Upon reception of the check datagram, the
+ \textit{Write Operation} and \textit{Busy} parameters are checked:
+ \begin{itemize}
+ \item If the slave is still busy with writing E$^2$PROM data, the
+ timer is checked. If it timed out, the operation is aborted
+ ($\rightarrow$~\textit{ERROR}), if not, the check datagram is
+ issued again. $\rightarrow$~\textit{WRITE\_CHECK2}
+ \item If the slave is ready with writing data, the write cycle is
+ completed. $\rightarrow$~\textit{END}
+ \end{itemize}
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{Mailbox Protocol Implementations}
+\index{Mailbox}
+
+The EtherCAT master implements the EoE and the CoE mailbox
+protocols. See the below section for details.
+
+%------------------------------------------------------------------------------
+
+\subsection{Ethernet-over-EtherCAT (EoE)}
+\label{sec:eoeimp}
+\index{EoE}
+
+The EtherCAT master implements the Ethernet-over-EtherCAT mailbox
+protocol to enable the tunneling of Ethernet frames to special slaves,
+that can either have physical Ethernet ports to forward the frames to,
+or have an own IP stack to receive the frames.
+
+\paragraph{Virtual Network Interfaces}
+
+The master creates a virtual EoE network interface for every
+EoE-capable slave. These interfaces are called \textit{eoeX}, where X
+is a number provided by the kernel on interface registration. Frames
+sent to these interfaces are forwarded to the associated slaves by the
+master. Frames, that are received by the slaves, are fetched by the
+master and forwarded to the virtual interfaces.
+
+This bears the following advantages:
+
+\begin{itemize}
+\item Flexibility: The user can decide, how the EoE-capable slaves are
+ interconnected with the rest of the world.
+\item Standard tools can be used to monitor the EoE activity and to
+ configure the EoE interfaces.
+\item The Linux kernel's layer-2-bridging implementation (according to
+ the IEEE 802.1D MAC Bridging standard) can be used natively to
+ bridge Ethernet traffic between EoE-capable slaves.
+\item The Linux kernel's network stack can be used to route packets
+ between EoE-capable slaves and to track security issues, just like
+ having physical network interfaces.
+\end{itemize}
+
+\paragraph{EoE Handlers}
+
+The virtual EoE interfaces and the related functionality is encapsuled
+in the \textit{ec\_eoe\_t} class (see section~\ref{sec:class-eoe}).
+So the master does not create the network interfaces directly: This is
+done inside the constructor of the \textit{ec\_eoe\_t} class. An
+object of this class is called ``EoE handler'' below. An EoE handler
+additionaly contains a frame queue. Each time, the kernel passes a new
+socket buffer for sending via the interface's
+\textit{hard\_start\_xmit()} callback, the socket buffer is queued for
+transmittion by the EoE state machine (see below). If the queue gets
+filled up, the passing of new socket buffers is suspended with a call
+to \textit{netif\_stop\_queue()}.
+
+\paragraph{Static Handler Creation}
+
+The master creates a pool of EoE handlers at startup, that are coupled
+to EoE-capable slaves on demand. The lifetime of the corresponding
+network interfaces is equal to the lifetime of the master module.
+This approach is opposed to creating the virtual network interfaces on
+demand (i.~e. on running across a new EoE-capable slave). The latter
+approach was considered as difficult, because of serveral reasons:
+
+\begin{itemize}
+\item The \textit{alloc\_netdev()} function can sleep and must be
+ called from a non-interrupt context. This reduces the flexibility of
+ choosing an appropriate method for cyclic EoE processing.
+\item Unregistering network interfaces requires them to be ``down'',
+ which can not be guaranteed upon sudden disappearing of an
+ EoE-capable slave.
+\item The connection to the EoE-capable slaves must be as continuous
+ as possible. Especially the transition from idle to operation mode
+ (and vice versa) causes the rebuilding of the internal data
+ structures. These transitions must be as transparent as possible for
+ the instances using the network interfaces.
+\end{itemize}
+
+\paragraph{Number of Handlers}
+
+The master module has a parameter \textit{ec\_eoeif\_count} to specify
+the number of EoE interfaces (and handlers) per master to create. This
+parameter can either be specified when manually loading the master
+module, or (when using the init script) by setting the
+\textit{\$EOE\_INTERFACES} variable in the sysconfig file (see
+section~\ref{sec:sysconfig}). Upon loading of the master module, the
+virtual interfaces become available:
+
+\begin{lstlisting}
+ host# `\textbf{ifconfig -a}`
+ eoe0 Link encap:Ethernet HWaddr 00:11:22:33:44:06
+ BROADCAST MULTICAST MTU:1500 Metric:1
+ RX packets:0 errors:0 dropped:0 overruns:0 frame:0
+ TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
+ collisions:0 txqueuelen:1000
+ RX bytes:0 (0.0 b) TX bytes:0 (0.0 b)
+
+ eoe1 Link encap:Ethernet HWaddr 00:11:22:33:44:07
+ BROADCAST MULTICAST MTU:1500 Metric:1
+ RX packets:0 errors:0 dropped:0 overruns:0 frame:0
+ TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
+ collisions:0 txqueuelen:1000
+ RX bytes:0 (0.0 b) TX bytes:0 (0.0 b)
+ ...
+\end{lstlisting}
+
+\paragraph{Coupling of EoE Slaves}
+
+During execution of the slave scan state machine (see
+section~\ref{sec:fsm-scan}), the master determines the supported
+mailbox protocols. This is done by examining the ``Supported Mailbox
+Protocols'' mask field at word address 0x001C of the SII\index{SII}.
+If bit 1 is set, the slave supports the EoE protocol. After slave
+scanning, the master runs through all slaves again and couples each
+EoE-capable slave to a free EoE handler. It can happen, that there are
+not enough EoE handlers to cover all EoE-capable slaves. In this case,
+the number of EoE handlers must be increased accordingly.
+
+\paragraph{EoE State Machine}
+\index{FSM!EoE}
+
+Every EoE handler owns an EoE state machine, that is used to send
+frames to the coupled slave and receive frames from the it via the EoE
+communication primitives. This state machine is showed in
+figure~\ref{fig:fsm-eoe}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.7\textwidth]{images/fsm-eoe}
+ \caption{Transition diagram of the EoE state machine}
+ \label{fig:fsm-eoe}
+\end{figure}
+
+\begin{description}
+\item[RX\_START] The beginning state of the EoE state machine. A
+ mailbox check datagram is sent, to query the slave's mailbox for new
+ frames. $\rightarrow$~\textit{RX\_CHECK}
+
+\item[RX\_CHECK] The mailbox check datagram is received. If the
+ slave's mailbox did not contain data, a transmit cycle is started.
+ $\rightarrow$~\textit{TX\_START}
+
+ If there are new data in the mailbox, a datagram is sent to fetch
+ the new data. $\rightarrow$~\textit{RX\_FETCH}
+
+\item[RX\_FETCH] The fetch datagram is received. If the mailbox data
+ do not contain a ``EoE Fragment request'' command, the data are
+ dropped and a transmit sequence is started.
+ $\rightarrow$~\textit{TX\_START}
+
+ If the received Ethernet frame fragment is the first fragment, a new
+ socket buffer is allocated. In either case, the data are copied into
+ the correct position of the socket buffer.
+
+ If the fragment is the last fragment, the socket buffer is forwarded
+ to the network stack and a transmit sequence is started.
+ $\rightarrow$~\textit{TX\_START}
+
+ Otherwise, a new receive sequence is started to fetch the next
+ fragment. $\rightarrow$~\textit{RX\_\-START}
+
+\item[TX\_START] The beginning state of a transmit sequence. It is
+ checked, if the transmittion queue contains a frame to send. If not,
+ a receive sequence is started. $\rightarrow$~\textit{RX\_START}
+
+ If there is a frame to send, it is dequeued. If the queue was
+ inactive before (because it was full), the queue is woken up with a
+ call to \textit{netif\_wake\_queue()}. The first fragment of the
+ frame is sent. $\rightarrow$~\textit{TX\_SENT}
+
+\item[TX\_SENT] It is checked, if the first fragment was sent
+ successfully. If the current frame consists of further fragments,
+ the next one is sent. $\rightarrow$~\textit{TX\_SENT}
+
+ If the last fragment was sent, a new receive sequence is started.
+ $\rightarrow$~\textit{RX\_START}
+\end{description}
+
+\paragraph{EoE Processing}
+
+To execute the EoE state machine of every active EoE handler, there
+must be a cyclic process. The easiest thing would be to execute the
+EoE state machines synchronously to the operation state machine (see
+section~\ref{sec:fsm-op}) with every realtime cycle. This approach has
+the following disadvantages:
+
+\begin{itemize}
+\item Only one EoE fragment can be sent or received every few cycles.
+ This causes the data rate to be very low, because the EoE state
+ machines are not executed in the time between the realtime
+ cycles. Moreover, the data rate would be dependent on the frequency
+ of the realtime process.
+\item The receiving and forwarding of frames to the kernel requires
+ the dynamic allocation of frames. Some realtime extensions do not
+ support calling memory allocation functions in realtime context, so
+ the EoE state machine may not be executed with each realtime cycle.
+\end{itemize}
+
+To overcome these problems, an own cyclic process is needed to
+asynchronously execute the EoE state machines. For that, the master
+owns a kernel timer, that is executed each timer interrupt. This
+guarantees a constant bandwidth, but poses the new problem of
+concurrent access to the master. The locking mechanisms needed for
+this are introduced in section~\ref{sec:concurr}.
+Section~\ref{sec:concurrency} gives practical implementation examples.
+
+\paragraph{Idle Mode}
+
+EoE data must also be exchanged idle mode, to guarantee the continuous
+availability of the connection to the EoE-capable slaves. Although
+there is no realtime module connected in this case, the master is
+still accessed by the idle state machine (see
+section~\ref{sec:fsm-idle}), that is executed by the master's
+workqueue. With the EoE timer running in addition, there is still
+concurrency, that has to be protected by a lock. Therefore the master
+owns an internal spinlock that is used protect master access during
+idle mode.
+
+\paragraph{Automatic Configuration}
+
+By default, slaves are left in \textit{INIT} state during idle mode.
+If an EoE interface is set to running state (i.~e. with the
+\textit{ifconfig up} command), the requested slave state of the
+related slave is automatically set to \textit{OP}, whereupon the idle
+state machine will attempt to configure the slave and put it into
+operation.
+
+%------------------------------------------------------------------------------
+
+\subsection{CANopen-over-EtherCAT (CoE)}
+\label{sec:coeimp}
+\index{CoE}
+
+The CANopen-over-EtherCAT protocol \cite[section~5.6]{alspec} is used
+to configure slaves on application level. Each CoE-capable slave
+provides a list of SDOs for this reason.
+
+\paragraph{SDO Configuration}
+
+The SDO configurations have to be provided by the realtime module.
+This is done via the \textit{ecrt\_slave\_conf\_sdo*()} methods (see
+section~\ref{sec:ecrt-slave}), that are part of the realtime
+interface. The slave stores the SDO configurations in a linked list,
+but does not apply them at once.
+
+\paragraph{SDO Download State Machine}
+
+The best time to apply SDO configurations is during the slave's
+\textit{PREOP} state, because mailbox communication is already
+possible and slave's application will start with updating input data
+in the succeeding \textit{SAVEOP} state. Therefore the SDO
+configuration has to be part of the slave configuration state machine
+(see section~\ref{sec:fsm-conf}): It is implemented via an SDO
+download state machine, that is executed just before entering the
+slave's \textit{SAVEOP} state. In this way, it is guaranteed that the
+SDO configurations are applied each time, the slave is reconfigured.
+
+The transition diagram of the SDO Download state machine can be seen
+in figure~\ref{fig:fsm-coedown}.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.9\textwidth]{images/fsm-coedown}
+ \caption{Transition diagram of the CoE download state machine}
+ \label{fig:fsm-coedown}
+\end{figure}
+
+\begin{description}
+\item[START] The beginning state of the CoE download state
+ machine. The ``SDO Download Normal Request'' mailbox command is
+ sent. $\rightarrow$~\textit{REQUEST}
+
+\item[REQUEST] It is checked, if the CoE download request has been
+ received by the slave. After that, a mailbox check command is issued
+ and a timer is started. $\rightarrow$~\textit{CHECK}
+
+\item[CHECK] If no mailbox data is available, the timer is checked.
+ \begin{itemize}
+ \item If it timed out, the SDO download is aborted.
+ $\rightarrow$~\textit{ERROR}
+ \item Otherwise, the mailbox is queried again.
+ $\rightarrow$~\textit{CHECK}
+ \end{itemize}
+
+ If the mailbox contains new data, the response is fetched.
+ $\rightarrow$~\textit{RESPONSE}
+
+\item[RESPONSE] If the mailbox response could not be fetched, the data
+ is invalid, the wrong protocol was received, or a ``Abort SDO
+ Transfer Request'' was received, the SDO download is aborted.
+ $\rightarrow$~\textit{ERROR}
+
+ If a ``SDO Download Normal Response'' acknowledgement was received,
+ the SDO download was successful. $\rightarrow$~\textit{END}
+
+\item[END] The SDO download was successful.
+
+\item[ERROR] The SDO download was aborted due to an error.
+
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{User Space}
+\label{sec:user}
+\index{User space}
+
+For the master runs as a kernel module, accessing it is natively
+limited to analyzing syslog messages and controlling using modutils.
+
+It is necessary to implement further interfaces, that make it easier
+to access the master from user space and allow a finer influence. It
+should be possible to view and to change special parameters at runtime.
+
+Bus visualization is a second point: For development and debugging
+purposes it would be nice, if one could show the connected slaves with
+a single command.
+
+Another aspect is automatic startup and configuration. If the master
+is to be integrated into a running system, it must be able to
+automatically start with a persistent configuration.
+
+A last thing is monitoring EtherCAT communication. For debugging
+purposes, there had to be a way to analyze EtherCAT datagrams. The
+best way would be with a popular network analyzer, like Wireshark
+\cite{wireshark} (the former Ethereal) or others.
+
+This section covers all those points and introduces the interfaces and
+tools to make all that possible.
+
+%------------------------------------------------------------------------------
+
+\subsection{The Sysfs Interface}
+\label{sec:sysfs}
+
+The system filesystem (Sysfs\index{Sysfs}) was introduced with Linux
+kernel 2.5 and is a well-defined interface for drivers to export
+information to user space. It serves also as an relief for the process
+filesystem (Procfs), where over the years much non-process information
+was concentrated.
+
+Sysfs exports information about devices, classes and busses via a
+virtual filesystem, usually mounted to \textit{/sys}. The EtherCAT
+master slightly differs from this concept, because the only physical
+device is the network adapter it uses for bus communication, which is
+already represented in Sysfs. For the EtherCAT bus is no system bus
+like PCI (with device and driver structures), it would not make any
+sense to represent it as bus structure in Sysfs.
+
+Therefore, the EtherCAT master is represented as a new directory
+directly unter the Sysfs root. Every master gets its own Sysfs entry
+named \textit{ethercatX}, where X is the index of the master. Two
+masters would result in the directories \textit{/sys/ethercat0} and
+\textit{/sys/ethercat1}, respectively.
+
+The Sysfs base class in the kernel code is the \textit{kobject}
+structure. Each object structure, that is to be represented in Sysfs,
+has to contain such a structure, because due to the concurrent access
+(through ``normal'' kernel code and Sysfs code) the object deletion
+gets a little more complicated: The object may not be freed until no
+instance uses it any more. Therefore, each kobject maintains a
+reference counter. If the reference counter gets zero, the object is
+finally freed. A kobject can be registered to appear as a directory in
+Sysfs with a call to \textit{kobject\_add()}. Each kobject type can
+define attributes, that appear as files in the kobject's
+directory. Callback functions have to be provided for reading (and
+perhaps writing) access.
+
+\subsubsection{Master Attributes}
+\label{sec:sysfs-master}
+
+Below is a typical listing of the masters Sysfs directory (that is a
+file system representation of the master's kobject):
+
+\begin{lstlisting}
+ host> `\textbf{ls /sys/ethercat0}`
+ debug_level slave000 slave003 slave006
+ eeprom_write_enable slave001 slave004 slave007
+ info slave002 slave005 slave008
+\end{lstlisting}
+
+The following attributes exist in the master directory:
+
+\begin{description}
+\item[debug\_level] (read/write) This attribute contains the master's
+ debug level, which controls, how much information is printed into
+ syslog. The values 0 (no additional debug messages), 1 (a few
+ additional debug messages) and 2 (all additional debug messages) are
+ defined. Writing is done with command like
+
+ \begin{lstlisting}[gobble=4]
+ host# `\textbf{echo 1 > /sys/ethercat0/debug\_level}`
+ \end{lstlisting}
+
+ and is receipted with a syslog message by the master:
+
+ \begin{lstlisting}[gobble=4]
+ EtherCAT: Master debug level set to 1.
+ \end{lstlisting}
+
+\item[enable\_eeprom\_writing] (read/write) See
+ section~\ref{sec:eepromaccess} for how to use this attribute.
+
+\item[info] (read only) This attribute contains information about the
+ master. Example contents are below:
+
+ \begin{lstlisting}[gobble=4]
+ host> `\textbf{cat /sys/ethercat0/info}`
+
+ Mode: IDLE
+ Slaves: 9
+
+ Timing (min/avg/max) [us]:
+ Idle cycle: 4 / 4.38 / 34
+ EoE cycle: 9 / 11.91 / 23
+
+ EoE statistics (RX/TX) [bps]:
+ eoe0: 0 / 3184
+ \end{lstlisting}
+
+ The mode can be \textit{ORPHANED}, \textit{IDLE} or
+ \textit{OPERATION}. The other parameters are self-explanatory.
+
+\end{description}
+
+\subsubsection{Domain Attributes}
+\label{sec:sysfs-domain}
+
+In operation mode, each created domain is represented as a directory
+\textit{domainX}, where X is the domain index. Below is a listing of
+the domain directory contents:
+
+\begin{lstlisting}
+ host> `\textbf{ls /sys/ethercat0/domain0}`
+ image_size
+\end{lstlisting}
+
+The domain directories currently only export the domain's image size.
+It is planned to export the whole process data mapping for debugging
+purposes.
+
+\subsubsection{Slave Attributes}
+\label{sec:sysfs-slave}
+
+Each slave on the bus is represented in its own directory
+\textit{slaveXXX}, where XXX is the slave's 3-digit ring position in
+the EtherCAT bus. Below is a listing of a slave directory:
+
+\begin{lstlisting}
+ host> `\textbf{ls /sys/ethercat0/slave003}`
+ eeprom info state
+\end{lstlisting}
+
+\begin{description}
+\item[eeprom] (read/write) See section~\ref{sec:eepromaccess} for how
+ to use this attribute.
+
+\item[info] (read only) This attribute contains a bunch of information
+ about the slave. Below is an example output:
+
+ \begin{lstlisting}[gobble=4]
+ host> `\textbf{cat /sys/ethercat0/slave003/info}`
+
+ Name: EL4132 2K. Ana. Ausgang +/-10V
+ Vendor ID: 0x00000002
+ Product code: 0x10243052
+
+ State: INIT
+ Ring position: 3
+ Advanced position: 1:3
+
+ Data link status:
+ Port 0 (EBUS) Link down, Loop open, Signal detected
+ Port 1 (EBUS) Link down, Loop open, Signal detected
+ Port 2 (EBUS) Link down, Loop closed, No signal
+ Port 3 (EBUS) Link down, Loop closed, No signal
+
+ Mailboxes:
+ RX mailbox: 0x1800/246, TX mailbox: 0x18F6/246
+ Supported protocols: CoE, FoE
+
+ SII data:
+ Group: AnaOut
+ Image: TERM_AO
+ Order#: EL4132
+
+ Sync-Managers:
+ 0: 0x1800, length 246, control 0x26, enable
+ 1: 0x18F6, length 246, control 0x22, enable
+ 2: 0x1000, length 0, control 0x24, enable
+ 3: 0x1100, length 0, control 0x20, enable
+
+ PDOs:
+ RXPDO "Channel 1" (0x1600), Sync-Manager 2
+ "Output" 0x6411:1, 16 bit
+ RXPDO "Channel 2" (0x1601), Sync-Manager 2
+ "Output" 0x6411:2, 16 bit
+ \end{lstlisting}
+
+ This is nearly all of the SII category information needed to
+ configure the slave, supplemented with state and addressing
+ information.
+
+\item[state] (read/write) This attribute contains the slave's state.
+ It can be read or written:
+
+ \begin{lstlisting}[gobble=4]
+ host# `\textbf{cat /sys/ethercat0/slave003/state}`
+ OP
+ host# `\textbf{echo SAVEOP > /sys/ethercat0/slave003/state}`
+ \end{lstlisting}
+
+ This command should also be receipted with a syslog message:
+
+ \begin{lstlisting}[gobble=4]
+ EtherCAT: Accepted new state SAVEOP for slave 3.
+ EtherCAT: Changing state of slave 3 from OP to SAVEOP.
+ EtherCAT: Slave states: INIT, SAVEOP, OP.
+ \end{lstlisting}
+
+ After the new requested state was accepted from user space, the
+ operation state machine (see section~\ref{sec:fsm-op}) or the idle
+ state machine (section~\ref{sec:fsm-idle}) notices, that the
+ requested slave state differs from the current one, and therefore
+ executes the slave configuration state machine, until the slave has
+ reached the requested state.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsubsection{E$^2$PROM Access}
+\label{sec:eepromaccess}
+\index{E$^2$PROM!Access}
+
+It is possible to directly read or write the complete E$^2$PROM
+contents of the slaves. This was introduced for the reasons below:
+
+\begin{itemize}
+\item The format of the E$^2$PROM data is still in development and
+ categories can be added in the future. With read and write access,
+ the complete memory contents can be easily backed up and restored.
+\item Some E$^2$PROM data fields have to be altered (like the alias
+ address). A quick writing must be possible for that.
+\item Through read access, analyzing category data is possible from
+ user space.
+\end{itemize}
+
+Reading out E$^2$PROM data is as easy as reading other
+attributes. Though the data are in binary format, analyzation is
+easier with a tool like \textit{hexdump}:
+
+\begin{lstlisting}
+ host> `\textbf{cat /sys/ethercat0/slave003/eeprom | hexdump}`
+ 0000000 0103 0000 0000 0000 0000 0000 0000 008c
+ 0000010 0002 0000 3052 07f0 0000 0000 0000 0000
+ 0000020 0000 0000 0000 0000 0000 0000 0000 0000
+ ...
+\end{lstlisting}
+
+Backing up E$^2$PROM contents gets as easy as copying a file:
+
+\begin{lstlisting}
+ host> `\textbf{cp /sys/ethercat0/slave003/eeprom slave003.eep}`
+\end{lstlisting}
+
+Writing access is only possible as \textit{root}. Moreover writing has
+to be explicitly enabled and is only allowed in idle mode. This is a
+safety measure, because without the correct memory contents, a slave
+is unusable. Writing E$^2$PROM contents in operation mode is not
+provided yet.
+
+E$^2$PROM writing is enabled with the command below:
+
+\begin{lstlisting}
+ host# `\textbf{echo 1 > /sys/ethercat0/eeprom\_write\_enable}`
+\end{lstlisting}
+
+The success can be seen in the syslog messages again:
+
+\begin{lstlisting}
+ EtherCAT: Slave EEPROM writing enabled.
+\end{lstlisting}
+
+Now, it is possible to write E$^2$PROM contents to a slave. The master
+will accept data through the \textit{eeprom} file and will perform a
+short validation of the contents, before starting the write operation.
+This validation checks the complete size and the category headers.
+
+\begin{lstlisting}
+ host# `\textbf{cat slave003.eep > /sys/ethercat0/slave003/eeprom}`
+\end{lstlisting}
+
+The write operation can take a few seconds.
+
+\begin{lstlisting}
+ EtherCAT: EEPROM writing scheduled for slave 3, 88 words.
+ EtherCAT: Writing EEPROM of slave 3...
+ EtherCAT: Finished writing EEPROM of slave 3.
+\end{lstlisting}
+
+%------------------------------------------------------------------------------
+
+\subsection{User Space Tools}
+\index{User space!Tools}
+
+There is a user space tool called \textit{lsec}\index{lsec} (``List
+EtherCAT'') to visualize the EtherCAT bus. Running it usually results
+in an output like this:
+
+\begin{lstlisting}
+ host> `\textbf{lsec}`
+ EtherCAT bus listing for master 0:
+ 0 1:0 OP EK1100 Ethernet Kopplerklemme (2A E-Bus)
+ 1 1:1 INIT EL4132 2K. Ana. Ausgang +/-10V
+ 2 1:2 INIT EL4132 2K. Ana. Ausgang +/-10V
+ 3 1:3 SAVEOP EL4132 2K. Ana. Ausgang +/-10V
+ 4 1:4 INIT EL5101 Incremental Encoder Interface
+ 5 1:5 INIT EL1014 4K. Dig. Eingang 24V, 10s
+ 6 1:6 OP EL6601 1 Port Switch (Ethernet, CoE)
+ 7 1:7 INIT EL5101 Incremental Encoder Interface
+ 8 1:8 INIT EL5001 1K. SSI Encoder
+\end{lstlisting}
+
+Every slave is displayed as one text row. The first column shows its
+ring position, the second displays the ``advanced position address''
+(see section~\ref{sec:addr}) and the third column displays the current
+slave state. The last column is the slave's name, as it appears in the
+``general'' E$^2$PROM category.
+
+The lsec program is a Perl script, that evaluates the Sysfs
+\textit{info} attributes of the slaves (see
+section~\ref{sec:sysfs-slave}). This is done for master $0$ by
+default, but the master index can be specified via command line:
+
+\begin{lstlisting}
+ host> `\textbf{lsec -h}`
+ Usage: ec_list [OPTIONS]
+ -m <IDX> Query master <IDX>.
+ -h Show this help.
+\end{lstlisting}
+
+This script has proved as useful for troubleshooting: If it displays
+slaves, the master is up and running, and the bus connection is
+present, too. It is also useful when building up a bus: It can verify
+the list of slaves and help to create a process data image (see
+chapter~\ref{chapter:usage}).
+
+%------------------------------------------------------------------------------
+
+\subsection{System Integration}
+\label{sec:system}
+
+To integrate the EtherCAT master into a running system, it has to be
+guaranteed, that it is started on system startup. In addition, there has
+to be a persistent configuration, that is also applied on startup.
+
+\subsubsection{The EtherCAT Init Script}
+\label{sec:init}
+\index{Init script}
+
+The EtherCAT master provides an ``init script'', that conforms to the
+requirements of the ``Linux Standard Base'' (LSB\index{LSB},
+\cite{lsb}). The script is installed to \textit{/etc/init.d/ethercat},
+so that the master can be easily inserted as a service. The different
+Linux distributions offer different ways to mark the service for
+starting and stopping in certain runlevels (for example, SUSE provides
+the \textit{insserv} command).
+
+To provide service dependencies (i.~e. which services have to be
+started before) right inside the init script code, LSB defines a
+special comment block. System tools can extract this information to
+insert the EtherCAT init script at the correct place in the startup
+sequence:
+
+\begin{lstlisting}
+ ### BEGIN INIT INFO
+ # Provides: ethercat
+ # Required-Start: $local_fs $syslog $network
+ # Should-Start: $time
+ # Required-Stop: $local_fs $syslog $network
+ # Should-Stop: $time
+ # Default-Start: 3 5
+ # Default-Stop: 0 1 2 6
+ # Short-Description: EtherCAT master modules
+ # Description:
+ ### END INIT INFO
+\end{lstlisting}
+
+The init script can also be used for manually starting and stopping
+the EtherCAT master. It has to be executed with one of the parameters
+\textit{start}, \textit{stop}, \textit{restart} or \textit{status}.
+Besides, a link to the script is placed at
+\textit{/usr/sbin/rcethercat} for easier access.
+
+\begin{lstlisting}
+ host# `\textbf{/etc/init.d/ethercat restart}`
+ Shutting down EtherCAT master done
+ Starting EtherCAT master done
+\end{lstlisting}
+
+\subsubsection{The EtherCAT Sysconfig File}
+\label{sec:sysconfig}
+\index{Sysconfig file}
+
+For persistent configuration, the init script uses a sysconfig file
+installed to \textit{/etc/sys\-config/ethercat}, that is mandatory for
+the init script. The sysconfig file contains all configuration
+variables needed to operate a master:
+
+\begin{description}
+\item[DEVICE\_INDEX] This variable must contain the PCI index of the
+ EtherCAT device. Setting this is mandatory for the EtherCAT init
+ script. Default: $-1$
+\item[EOE\_INTERFACES] The number of virtual Ethernet-over-EtherCAT
+ interfaces, every master creates on startup. See
+ section~\ref{sec:eoeimp}. Default: $0$
+\item[EOE\_BRIDGE] If this variable is set, all EoE interfaces will be
+ added to a network bridge according to IEEE 802.1D after master
+ startup. The variable must contain the name of the bridge. To use
+ this functionality, the kernel must be configured with the
+ \textit{CONFIG\_BRIDGE} option and the \textit{bridge-utils} package
+ must be installed (i.~e. the \textit{brctl} command is needed).
+\item[EOE\_IP\_ADDRESS] The IP address of the EoE bridge. Setting this
+ together with \textit{EOE\_IP\_NETMASK} will let the local host
+ communicate with devices on the EoE bridge.
+\item[EOE\_IP\_NETMASK] IP netmask of the EoE bridge.
+\item[EOE\_EXTRA\_INTERFACES] The list of extra interfaces to include
+ in the EoE brid\-ge. Set this to interconnect the EoE bridge with
+ other local interfaces. If \textit{EOE\_\-BRIDGE} is empty or
+ undefined, setting this variable has no effect. Important: The IP
+ address of the listed interfaces will be cleared. Setting
+ \textit{EOE\_\-IP\_\-ADDRESS} and \textit{EOE\_IP\_NETMASK} will
+ re-enable them for IP traffic.
+\item[EOE\_GATEWAY] The IP address of the default gateway. If this
+ variable is set, the gateway will be renewed after bridge
+ installation. This is necessary, if the default gateway's interface
+ is one of the \textit{EOE\_EXTRA\_INTERFACES}.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\subsection{Monitoring and Debugging}
+\label{sec:debug}
+\index{Monitoring}
+
+For debugging purposes, every EtherCAT master registeres a read-only
+network interface \textit{ecX}, where X is a number, provided by the
+kernel on device registration. While it is ``up'', the master forwards
+every frame sent and received to this interface.
+
+This makes it possible to connect an network monitor (like Wireshark
+or tcpdump) to the debug interface and monitor the EtherCAT frames.
+
+It has to be considered, that can be frame rate can be very high. The
+idle state machine usually runs every kernel timer interrupt (up to
+$1$~kHz) and with a connected realtime module, the rate can be even
+higher.
+
+\paragraph{Attention:} The socket buffers needed for the operation of
+the debugging interface have to be allocated dynamically. Some Linux
+realtime extensions do not allow this in realtime context!
+
+%------------------------------------------------------------------------------
+
+\section{Timing Aspects}
+\label{sec:timing}
+
+Although EtherCAT's timing is highly deterministic and therefore
+timing issues are rare, there are a few aspects that can (and should
+be) dealt with.
+
+%------------------------------------------------------------------------------
+
+\subsection{Realtime Interface Profiling}
+\label{sec:timing-profile}
+\index{Realtime!Profiling}
+
+One of the most important timing aspects are the runtimes of the
+realtime interface functions, that are called in cyclic context. These
+functions make up an important part of the overall timing of the
+realtime module. To measure the timing of the functions, the following
+code was used:
+
+\begin{lstlisting}[gobble=2,language=C]
+ c0 = get_cycles();
+ ecrt_master_receive(master);
+ c1 = get_cycles();
+ ecrt_domain_process(domain1);
+ c2 = get_cycles();
+ ecrt_master_run(master);
+ c3 = get_cycles();
+ ecrt_master_send(master);
+ c4 = get_cycles();
+\end{lstlisting}
+
+Between each call of an interface function, the CPU timestamp counter
+is read. The counter differences are converted to microseconds with
+help of the \textit{cpu\_khz} variable, that contains the number of
+increments per millisecond.
+
+For the actual measuring, a system with a $2.0$~GHz CPU was used, that
+ran the above code in an RTAI thread with a cycle time of $100$
+\textmu s. The measuring was repeated $n = 100$ times and the results
+were averaged. These can be seen in table~\ref{tab:profile}.
+
+\begin{table}[htpb]
+ \centering
+ \caption{Profiling of a Realtime Cycle on a $2.0$~GHz Processor}
+ \label{tab:profile}
+ \vspace{2mm}
+ \begin{tabular}{l|r|r}
+ Element & Mean Duration [\textmu s] & Standard Deviancy [\textmu s] \\
+ \hline
+ \textit{ecrt\_master\_receive()} & 8.04 & 0.48\\
+ \textit{ecrt\_domain\_process()} & 0.14 & 0.03\\
+ \textit{ecrt\_master\_run()} & 0.29 & 0.12\\
+ \textit{ecrt\_master\_send()} & 2.18 & 0.17\\ \hline
+ Complete Cycle & 10.65 & 0.69\\ \hline
+ \end{tabular}
+\end{table}
+
+It is obvious, that the the functions accessing hardware make up the
+lion's share. The \textit{ec\_master\_receive()} executes the ISR of
+the Ethernet device, analyzes datagrams and copies their contents into
+the memory of the datagram objects. The \textit{ec\_master\_send()}
+assembles a frame out of different datagrams and copies it to the
+hardware buffers. Interestingly, this makes up only a quarter of the
+receiving time.
+
+The functions that only operate on the masters internal data
+structures are very fast ($\Delta t < 1$~\textmu s). Interestingly the
+runtime of \textit{ec\_domain\_process()} has a small standard
+deviancy relative to the mean value, while this ratio is about twice
+as big for \textit{ec\_master\_run()}: This probably results from the
+latter function having to execute code depending on the current state
+and the different state functions are more or less complex.
+
+For a realtime cycle makes up about $10$~\textmu s, the theoretical
+frequency can be up to $100$~kHz. For two reasons, this frequency
+keeps being theoretical:
+
+\begin{enumerate}
+\item The processor must still be able to run the operating system
+ between the realtime cycles.
+\item The EtherCAT frame must be sent and received, before the next
+ realtime cycle begins. The determination of the bus cycle time is
+ difficult and covered in section~\ref{sec:timing-bus}.
+\end{enumerate}
+
+%------------------------------------------------------------------------------
+
+\subsection{Bus Cycle Measuring}
+\label{sec:timing-bus}
+\index{Bus cycle}
+
+For measuring the time, a frame is ``on the wire'', two timestamps
+must be be taken:
+
+\begin{enumerate}
+\item The time, the Ethernet hardware begins with physically sending
+ the frame.
+\item The time, the frame is completely received by the Ethernet
+ hardware.
+\end{enumerate}
+
+Both times are difficult to determine. The first reason is, that the
+interrupts are disabled and the master is not notified, when a frame
+is sent or received (polling would distort the results). The second
+reason is, that even with interrupts enabled, the time from the event
+to the notification is unknown. Therefore the only way to confidently
+determine the bus cycle time is an electrical measuring.
+
+Anyway, the bus cycle time is an important factor when designing
+realtime code, because it limits the maximum frequency for the cyclic
+part of the realtime module. In practice, these timing parameters are
+highly dependent on the hardware and often a trial and error method
+must be used to determine the limits of the system.
+
+The central question is: What happens, if the cycle frequency is too
+high? The answer is, that the EtherCAT frames that have been sent at
+the end of the cycle are not yet received, when the next cycle starts.
+First this is noticed by \textit{ecrt\_domain\_process()}, because the
+working counter of the process data datagrams were not increased. The
+function will notify the user via syslog\footnote{To limit syslog
+ output, a mechanism has been implementet, that outputs a summarized
+ notification at maximum once a second.}. In this case, the process
+data keeps being the same as in the last cycle, because it is not
+erased by the domain. When the domain datagrams are queued again, the
+master notices, that they are already queued (and marked as sent). The
+master will mark them as unsent again and output a warning, that
+datagrams were ``skipped''.
+
+On the mentioned $2.0$~GHz system, the possible cycle frequency can be
+up to $25$~kHz without skipped frames. This value can surely be
+increased by choosing faster hardware. Especially the RealTek network
+hardware could be replaced by a faster one. Besides, implementing a
+dedicated ISR for EtherCAT devices would also contribute to increasing
+the latency. These are two points on the author's to-do list.
+
+%------------------------------------------------------------------------------
+
+\chapter{Using the EtherCAT Master}
+\label{chapter:usage}
+\index{Master!Usage}
+
+This chapter will give practical examples of how to use the EtherCAT
+master via the realtime interface by writing a realtime module.
+
+Section~\ref{sec:make} shows how to compile and install the master,
+while the sections~\ref{sec:mini} to~\ref{sec:concurrency} give
+examples for different realtime modules.
+
+%------------------------------------------------------------------------------
+
+\section{Compiling and Installing}
+\label{sec:make}
+\index{Master!Compilation}
+
+The current EtherCAT master code is available at~\cite{etherlab}.
+After downloading the \textit{tar.bz2} file, it has to be unpacked
+with the command below (or similar):
+
+\begin{lstlisting}
+ host> `\textbf{tar xjf ethercat-stable-1.1-r513-src.tar.bz2}`
+ host> `\textbf{cd ethercat-stable-1.1-r513-src}`
+\end{lstlisting}
+
+For compilation, the kernel sources are needed. Basically any kernel
+sources are appropriate\footnote{If a realtime extension is to be
+ used, the kernel has to be patched before that.}, that are
+configured with networking. If the host kernel is not the running
+kernel, a copy of the configuration template has to be made:
+
+\begin{lstlisting}
+ host> `\textbf{cp ethercat.conf.tmpl ethercat.conf}`
+\end{lstlisting}
+
+Now the \textit{\$KERNEL} variable inside the \textit{ethercat.conf}
+file can be adjusted to reflect the appropriate kernel version. If
+everything is correct now, the sucessive call to
+
+\begin{lstlisting}
+ host> `\textbf{make}`
+\end{lstlisting}
+
+will result in no errors.
+
+The following commands have to be entered as \textit{root}: To install
+the kernel modules, the init script, the sysconfig file and the user
+space tools, the below command has to be executed:
+
+\begin{lstlisting}
+ host# `\textbf{make install}`
+\end{lstlisting}
+
+If the sysconfig file did not exist yet, the user is notified to edit
+it, before running the master. For the contents of the file, see
+section~\ref{sec:sysconfig}. To give a short summary: The most
+important thing is to adjust the \textit{\$DEVICE\_INDEX} variable. It
+has to be set to the index of the compatible network device to use
+with EtherCAT, where the order of devices is dependent on their
+position in the PCI bus. If this is not known, the index can be
+determinded with trial and error, but it has to be considered that a
+wrong value can cause a loss of network connection.
+
+After the basic configuration is done, the master can be started with
+the below command:
+
+\begin{lstlisting}
+ host# `\textbf{/etc/init.d/ethercat start}`
+\end{lstlisting}
+
+The operation of the master can be observed by looking at the
+syslog\index{syslog} messages, which should look like the ones below:
+
+\begin{lstlisting}[numbers=left]
+ EtherCAT: Master driver, 1.1 (stable) - rev. 513,
+ compiled by fp at Aug 09 2006 10:23:20
+ EtherCAT: Initializing 1 EtherCAT master(s)...
+ EtherCAT: Initializing master 0.
+ EtherCAT: Master driver initialized.
+ ec_8139too Fast Ethernet driver 0.9.27 Revision 513,
+ compiled by fp at Aug 09 2006 10:23:20
+ ec_device_index is 0
+ ACPI: PCI Interrupt 0000:01:00.0[A] -> Link [LNKC]
+ -> GSI 11 (level, low) -> IRQ 11
+ ec0: RealTek RTL8139 at 0xd047c000, 00:c0:26:00:c6:aa, IRQ 11
+ ec0: Identified 8139 chip type 'RTL-8100B/8139D'
+ Registering EtherCAT device...
+ Starting EtherCAT device...
+ EtherCAT: Link state changed to UP.
+ EtherCAT: Starting Idle mode.
+ EtherCAT: 11 slaves responding.
+ EtherCAT: Slave states: INIT, OP.
+ EtherCAT: Scanning bus.
+ EtherCAT: Bus scanning completed.
+ EtherCAT: No EoE handlers coupled.
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1}] The master module is loaded,
+ and one master is initialized.
+\item[\normalfont\textcircled{\tiny 6}] The EtherCAT-capable RTL8139
+ device driver is loaded. It connects its first network device to the
+ master.
+\item[\normalfont\textcircled{\tiny 16}] The master starts idle mode
+ and begins scanning the bus for slaves.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{A Minimal Example Module}
+\label{sec:mini}
+\index{Examples!Minimal}
+
+This section will explain the usage of the EtherCAT master from a
+minimal kernel module. The complete module code is obtainable as a
+part of the EtherCAT master code release (see~\cite{etherlab}, file
+\textit{examples/mini/mini.c}).
+
+The minimal example uses a kernel timer (software interrupt) to handle
+cyclic code. After the timer function is executed, it re-adds itself
+with a delay of one \textit{jiffy}\index{jiffies}, which results in a
+timer frequency of \textit{HZ}\nomenclature{HZ}{Kernel macro
+ containing the timer interrupt frequency}
+
+The module-global variables, needed to operate the master can be seen
+in listing~\ref{lst:minivar}.
+
+\begin{lstlisting}[language=C,numbers=left,caption={Minimal
+ variables},label=lst:minivar]
+ struct timer_list timer;
+
+ ec_master_t *master = NULL;
+ ec_domain_t *domain1 = NULL;
+
+ void *r_dig_in, *r_ana_out;
+
+ ec_pdo_reg_t domain1_pdos[] = {
+ {"1", Beckhoff_EL1014_Inputs, &r_dig_in},
+ {"2", Beckhoff_EL4132_Ouput1, &r_ana_out},
+ {}
+ };
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1}] There is a timer object
+ declared, that is needed to tell the kernel to install a timer and
+ execute a certain function, if it runs out. This is done by a
+ variable of the \textit{timer\_list} structure.
+\item[\normalfont\textcircled{\tiny 3} -- \textcircled{\tiny 4}] There
+ is a pointer declared, that will later point to a requested EtherCAT
+ master. Additionally there is a pointer to a domain object needed,
+ that will manage process data IO.
+\item[\normalfont\textcircled{\tiny 6}] The pointers \textit{r\_*}
+ will later point to the \underline{r}aw process data values inside
+ the domain memory. The addresses they point to will be set during a
+ call to \textit{ec\_\-master\_\-activate()}, that will create the
+ domain memory and configure the mapped process data image.
+\item[\normalfont\textcircled{\tiny 8} -- \textcircled{\tiny 12}] The
+ configuration of the mapping of certain PDOs in a domain can easily
+ be done with the help of an initialization array of the
+ \textit{ec\_pdo\_reg\_t} type, defined as part of the realtime
+ interface. Each record must contain the ASCII bus-address of the
+ slave (see section~\ref{sec:addr}), the slave's vendor ID and
+ product code, and the index and subindex of the PDO to map (these
+ four fields can be specified in junction, by using one of the
+ defines out of the \textit{include/ecdb.h} header). The last field
+ has to be the address of the process data pointer, so it can later
+ be redirected appropriately. Attention: The initialization array
+ must end with an empty record (\textit{\{\}})!
+\end{description}
+
+The initialization of the minimal realtime module is done by the
+``Minimal init function'' in listing~\ref{lst:miniinit}.
+
+\begin{lstlisting}[language=C,numbers=left,caption={Minimal init
+ function},label={lst:miniinit}]
+ int __init init_mini_module(void)
+ {
+ if (!(master = ecrt_request_master(0))) {
+ goto out_return;
+ }
+
+ if (!(domain1 = ecrt_master_create_domain(master))) {
+ goto out_release_master;
+ }
+
+ if (ecrt_domain_register_pdo_list(domain1,
+ domain1_pdos)) {
+ goto out_release_master;
+ }
+
+ if (ecrt_master_activate(master)) {
+ goto out_release_master;
+ }
+
+ ecrt_master_prepare(master);
+
+ init_timer(&timer);
+ timer.function = run;
+ timer.expires = jiffies + 10;
+ add_timer(&timer);
+
+ return 0;
+
+ out_release_master:
+ ecrt_release_master(master);
+ out_return:
+ return -1;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] It is tried to request the
+ first EtherCAT master (index 0). On success, the
+ \textit{ecrt\_\-request\_\-master()} function returns a pointer to
+ the reserved master, that can be used as an object to following
+ functions calls. On failure, the function returns \textit{NULL}.
+\item[\normalfont\textcircled{\tiny 7}] In order to exchange process
+ data, a domain object has to be created. The
+ \textit{ecrt\_\-master\_\-create\_domain()} function also returns a
+ pointer to the created domain, or \textit{NULL} in error case.
+\item[\normalfont\textcircled{\tiny 11}] The registration of domain
+ PDOs with an initialization array results in a single function call.
+ Alternatively the data fields could be registered with individual
+ calls of \textit{ecrt\_domain\_register\_pdo()}.
+\item[\normalfont\textcircled{\tiny 16}] After the configuration of
+ process data mapping, the master can be activated for cyclic
+ operation. This will configure all slaves and bring them into
+ \textit{OP} state.
+\item[\normalfont\textcircled{\tiny 20}] This call is needed to avoid
+ a case differentiation in cyclic operation: The first operation in
+ cyclic mode is a receive call. Due to the fact, that there is
+ nothing to receive during the first cycle, there had to be an
+ \textit{if}-statement to avoid a warning. A call to
+ \textit{ec\_master\_prepare()} sends a first datagram containing a
+ process data exchange datagram, so that the first receive call will
+ not fail.
+\item[\normalfont\textcircled{\tiny 22} -- \textcircled{\tiny 25}] The
+ master is now ready for cyclic operation. The kernel timer that
+ cyclically executes the \textit{run()} function is initialized and
+ started.
+\end{description}
+
+The coding of a cleanup function fo the minimal module can be seen in
+listing~\ref{lst:miniclean}.
+
+\begin{lstlisting}[language=C,numbers=left,caption={Minimal cleanup
+ function},label={lst:miniclean}]
+ void __exit cleanup_mini_module(void)
+ {
+ del_timer_sync(&timer);
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] To cleanup the module, it it
+ necessary to stop the cyclic processing. This is done by a call to
+ \textit{del\_timer\_sync()} which safely removes a queued timer
+ object. It is assured, that no cyclic work will be done after this
+ call returns.
+\item[\normalfont\textcircled{\tiny 4}] This call deactivates the
+ master, which results in all slaves being brought to their
+ \textit{INIT} state again.
+\item[\normalfont\textcircled{\tiny 5}] This call releases the master,
+ removes any existing configuration and silently starts the idle
+ mode. The value of the master pointer is invalid after this call and
+ the module can be safely unloaded.
+\end{description}
+
+The final part of the minimal module is that for the cyclic work. Its
+coding can be seen in listing~\ref{lst:minirun}.
+
+\begin{lstlisting}[language=C,numbers=left,caption={Minimal cyclic
+ function},label={lst:minirun}]
+ void run(unsigned long data)
+ {
+ static uint8_t dig_in_0;
+
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ dig_in_0 = EC_READ_BIT(r_dig_in, 0);
+ EC_WRITE_S16(r_ana_out, dig_in_0 * 0x3FFF);
+
+ ecrt_master_run(master);
+ ecrt_master_send(master);
+
+ timer.expires += 1; // frequency = HZ
+ add_timer(&timer);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 5}] The cyclic processing starts
+ with receiving datagrams, that were sent in the last cycle. The
+ frames containing these datagrams have to be received by the network
+ interface card prior to this call.
+\item[\normalfont\textcircled{\tiny 6}] The process data of domain 1
+ has been automatically copied into domain memory while datagram
+ reception. This call checks the working counter for changes and
+ re-queues the domain's datagram for sending.
+\item[\normalfont\textcircled{\tiny 8}] This is an example for reading
+ out a bit-oriented process data value (i.~e. bit 0) via the
+ \textit{EC\_READ\_BIT()} macro. See section~\ref{sec:macros} for
+ more information about those macros.
+\item[\normalfont\textcircled{\tiny 9}] This line shows how to write a
+ signed, 16-bit process data value. In this case, the slave is able
+ to output voltages of $-10$~V to $+10$~V with a resolution of 16
+ bit. This write command outputs either $0$~V or $+5$~V, depending
+ of the value of \textit{dig\_in\_0}.
+\item[\normalfont\textcircled{\tiny 11}] This call runs the master's
+ operation state machine (see section~\ref{sec:fsm-op}). A single
+ state is processed, and datagrams are queued. Mainly bus observation
+ is done: The bus state is determined and in case of slaves that lost
+ their configuration, reconfiguration is tried.
+\item[\normalfont\textcircled{\tiny 12}] This method sends all queued
+ datagrams, in this case the domain's datagram and one of the master
+ state machine. In best case, all datagrams fit into one frame.
+\item[\normalfont\textcircled{\tiny 14} -- \textcircled{\tiny 15}]
+ Kernel timers are implemented as ``one-shot'' timers, so they have
+ to be re-added after each execution. The time of the next execution
+ is specified in \textit{jiffies} and will happen at the time of the
+ next system timer interrupt. This results in the \textit{run()}
+ function being executed with a frequency of \textit{HZ}.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{An RTAI Example Module}
+\label{sec:rtai}
+\index{Examples!RTAI}
+
+The whole code can be seen in the EtherCAT master code release
+(see~\cite{etherlab}, file \textit{examples/rtai/rtai\_sample.c}).
+
+Listing~\ref{lst:rtaivar} shows the defines and global variables
+needed for a minimal RTAI module with EtherCAT processing.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI task
+ declaration},label={lst:rtaivar}]
+ #define FREQUENCY 10000
+ #define TIMERTICKS (1000000000 / FREQUENCY)
+
+ RT_TASK task;
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1} -- \textcircled{\tiny 2}] RTAI
+ takes the cycle period as nanoseconds, so the easiest way is to
+ define a frequency and convert it to a cycle time in nanoseconds.
+\item[\normalfont\textcircled{\tiny 4}] The \textit{task} variable
+ later contains information about the running RTAI task.
+\end{description}
+
+Listing~\ref{lst:rtaiinit} shows the module init function for the RTAI
+module. Most lines are the same as in listing~\ref{lst:miniinit},
+differences come up when starting the cyclic code.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI module init
+ function},label={lst:rtaiinit}]
+ int __init init_mod(void)
+ {
+ RTIME requested_ticks, tick_period, now;
+
+ if (!(master = ecrt_request_master(0))) {
+ goto out_return;
+ }
+
+ if (!(domain1 = ecrt_master_create_domain(master))) {
+ goto out_release_master;
+ }
+
+ if (ecrt_domain_register_pdo_list(domain1,
+ domain1_pdos)) {
+ goto out_release_master;
+ }
+
+ if (ecrt_master_activate(master)) {
+ goto out_release_master;
+ }
+
+ ecrt_master_prepare(master);
+
+ requested_ticks = nano2count(TIMERTICKS);
+ tick_period = start_rt_timer(requested_ticks);
+
+ if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
+ goto out_stop_timer;
+ }
+
+ now = rt_get_time();
+ if (rt_task_make_periodic(&task, now + tick_period,
+ tick_period)) {
+ goto out_stop_task;
+ }
+
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_deactivate:
+ ecrt_master_deactivate(master);
+ out_release_master:
+ ecrt_release_master(master);
+ out_return:
+ return -1;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 24} -- \textcircled{\tiny 25}] The
+ nanoseconds are converted to RTAI timer ticks and an RTAI timer is
+ started. \textit{tick\_period} will be the ``real'' number of ticks
+ used for the timer period (which can be different to the requested
+ one).
+\item[\normalfont\textcircled{\tiny 27}] The RTAI task is initialized
+ by specifying the cyclic function, the parameter to hand over, the
+ stack size, priority, a flag that tells, if the function will use
+ floating point operations and a signal handler.
+\item[\normalfont\textcircled{\tiny 32}] The task is made periodic by
+ specifying a start time and a period.
+\end{description}
+
+The cleanup function of the RTAI module in listing~\ref{lst:rtaiclean}
+is nearly as simple as that of the minimal module.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI module
+ cleanup function},label={lst:rtaiclean}]
+ void __exit cleanup_mod(void)
+ {
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 2}] The RTAI task will be stopped
+ and deleted.
+\item[\normalfont\textcircled{\tiny 3}] After that, the RTAI timer can
+ be stopped.
+\end{description}
+
+The rest is the same as for the minimal module.
+
+Worth to mention is, that the cyclic function of the RTAI module
+(listing~\ref{lst:rtairun}) has a slightly different architecture. The
+function is not executed until returning for every cycle, but has an
+infinite loop in it, that is placed in a waiting state for the rest of
+each cycle.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI module cyclic
+ function},label={lst:rtairun}]
+ void run(long data)
+ {
+ while (1) {
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ k_pos = EC_READ_U32(r_ssi_input);
+
+ ecrt_master_run(master);
+ ecrt_master_send(master);
+
+ rt_task_wait_period();
+ }
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] The \textit{while (1)} loop
+ executes for the lifetime of the RTAI task.
+\item[\normalfont\textcircled{\tiny 12}] The
+ \textit{rt\_task\_wait\_period()} function sets the process into a
+ sleeping state until the beginning of the next cycle. It also
+ checks, if the cyclic function has to be terminated.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\section{Concurrency Example}
+\label{sec:concurrency}
+\index{Examples!Concurrency}
+
+As mentioned before, there can be concurrent access to the EtherCAT
+master. The realtime module and a EoE\index{EoE} process can compete
+for master access, for example. In this case, the module has to
+provide the locking mechanism, because it depends on the module's
+architecture which lock has to be used. The module makes this locking
+mechanism available to the master through the master's locking
+callbacks.
+
+In case of RTAI, the lock can be an RTAI semaphore, as shown in
+listing~\ref{lst:convar}. A normal linux semaphore would not be
+appropriate, because it could not block the RTAI task due to RTAI
+running in a higher domain than the linux kernel (see~\cite{rtai}).
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI semaphore for
+ concurrent access},label={lst:convar}]
+ SEM master_sem;
+\end{lstlisting}
+
+The module has to implement the two callbacks for requesting and
+releasing the master lock. An exemplary coding can be seen in
+listing~\ref{lst:conlock}.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI locking
+ callbacks for concurrent access},label={lst:conlock}]
+ int request_lock(void *data)
+ {
+ rt_sem_wait(&master_sem);
+ return 0;
+ }
+
+ void release_lock(void *data)
+ {
+ rt_sem_signal(&master_sem);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 1}] The \textit{request\_lock()}
+ function has a data parameter. The master always passes the value,
+ that was specified when registering the callback function. This can
+ be used for handing the master pointer. Notice, that it has an
+ integer return value (see line 4).
+\item[\normalfont\textcircled{\tiny 3}] The call to
+ \textit{rt\_sem\_wait()} either returns at once, when the semaphore
+ was free, or blocks until the semaphore is freed again. In any case,
+ the semaphore finally is reserved for the process calling the
+ request function.
+\item[\normalfont\textcircled{\tiny 4}] When the lock was requested
+ successfully, the function should return 0. The module can prohibit
+ requesting the lock by returning non-zero (see paragraph ``Tuning
+ the jitter'' below).
+\item[\normalfont\textcircled{\tiny 7}] The \textit{release\_lock()}
+ function gets the same argument passed, but has a void return value,
+ because is always succeeds.
+\item[\normalfont\textcircled{\tiny 9}] The \textit{rt\_sem\_signal()}
+ function frees the semaphore, that was prior reserved with
+ \textit{rt\_sem\_wait()}.
+\end{description}
+
+In the module's init function, the semaphore must be initialized, and
+the callbacks must be passed to the EtherCAT master:
+
+\begin{lstlisting}[language=C,numbers=left,caption={Module init
+ function for concurrent access},label={lst:coninit}]
+ int __init init_mod(void)
+ {
+ RTIME tick_period, requested_ticks, now;
+
+ rt_sem_init(&master_sem, 1);
+
+ if (!(master = ecrt_request_master(0))) {
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock,
+ release_lock, NULL);
+ // ...
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 5}] The call to
+ \textit{rt\_sem\_init()} initializes the semaphore and sets its
+ value to 1, meaning that only one process can reserve the semaphore
+ without blocking.
+\item[\normalfont\textcircled{\tiny 11}] The callbacks are passed to
+ the master with a call to \textit{ecrt\_master\_callbacks()}. The
+ last parameter is the argument, that the master should pass with
+ each call to a callback function. Here it is not used and set to
+ \textit{NULL}.
+\end{description}
+
+For the cyclic function being only one competitor for master access,
+it has to request the lock like any other process. There is no need to
+use the callbacks (which are meant for processes of lower priority),
+so it can access the semaphore directly:
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI cyclic
+ function for concurrent access},label={lst:conrun}]
+ void run(long data)
+ {
+ while (1) {
+ rt_sem_wait(&master_sem);
+
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ k_pos = EC_READ_U32(r_ssi_input);
+
+ ecrt_master_run(master);
+ ecrt_master_send(master);
+
+ rt_sem_signal(&master_sem);
+ rt_task_wait_period();
+ }
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 4}] Every access to the master has
+ to be preceeded by a call to \textit{rt\_sem\_wait()}, because
+ another instance might currently access the master.
+\item[\normalfont\textcircled{\tiny 14}] When cyclic processing
+ finished, the semaphore has to be freed again, so that other
+ processes have the possibility to access the master.
+\end{description}
+
+A little change has to be made to the cleanup function in case of
+concurrent master access.
+
+\begin{lstlisting}[language=C,numbers=left,caption={RTAI module
+ cleanup function for concurrent access},label={lst:conclean}]
+ void __exit cleanup_mod(void)
+ {
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 7}] Upon module cleanup, the
+ semaphore has to be deleted, so that memory can be freed.
+\end{description}
+
+\paragraph{Tuning the Jitter}
+\index{Jitter}
+
+Concurrent access leads to higher jitter of the realtime process,
+because there are situations, in which the realtime process has to
+wait for a process of lower priority to finish accessing the master.
+In most cases this is acceptable, because a master access cycle
+(receive/process/send) only takes $10$~\textmu s to $20$~\textmu s on
+recent systems, what would be the maximum additional jitter. However
+some applications demand a minimum jitter. For this reason the master
+access can be prohibited by the realtime module: If the time, another
+process wants to access the master, is to close to the beginning of
+the next realtime cycle, the module can disallow, that the lock is
+taken. In this case, the request callback has to return $1$, meaning
+that the lock has not been taken. The foreign process must abort its
+master access and try again next time.
+
+This measure helps to significantly reducing the jitter produced by
+concurrent master access. Below are exerpts of an example coding:
+
+\begin{lstlisting}[language=C,numbers=left,caption={Variables for
+ jitter reduction},label={lst:redvar}]
+ #define FREQUENCY 10000 // RTAI task frequency in Hz
+ // ...
+ cycles_t t_last_cycle = 0;
+ const cycles_t t_critical = cpu_khz * 1000 / FREQUENCY
+ - cpu_khz * 30 / 1000;
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 3}] The variable
+ \textit{t\_last\_cycle} holds the timer ticks at the beginning of
+ the last realtime cycle.
+\item[\normalfont\textcircled{\tiny 4}] \textit{t\_critical} contains
+ the number of ticks, that may have passed since the beginning of the
+ last cycle, until there is no more foreign access possible. It is
+ calculated by substracting the ticks for $30$~\textmu s from the
+ ticks for a complete cycle.
+\end{description}
+
+\begin{lstlisting}[language=C,numbers=left,caption={Cyclic function
+ with reduced jitter},label={lst:redrun}]
+ void run(long data)
+ {
+ while (1) {
+ t_last_cycle = get_cycles();
+ rt_sem_wait(&master_sem);
+ // ...
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 4}] The ticks of the beginning of
+ the current realtime cycle are taken before reserving the semaphore.
+\end{description}
+
+\begin{lstlisting}[language=C,numbers=left,caption={Request callback
+ for reduced jitter},label={lst:redreq}]
+ int request_lock(void *data)
+ {
+ // too close to the next RT cycle: deny access.
+ if (get_cycles() - t_last_cycle > t_critical)
+ return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+ }
+\end{lstlisting}
+
+\begin{description}
+\item[\normalfont\textcircled{\tiny 4}] If the time of request is too
+ close to the next realtime cycle (here: \textless~$30$~\textmu s
+ before the estimated beginning), the locking is denied. The
+ requesting process must abort its cycle.
+\end{description}
+
+%------------------------------------------------------------------------------
+
+\begin{thebibliography}{99}
+\bibitem{etherlab} Ingenieurgemeinschaft IgH: EtherLab -- Open Source
+ Toolkit for rapid realtime code generation under Linux with
+ Simulink/RTW and EtherCAT technology. URL: http://etherlab.org,
+ July~31, 2006.
+\bibitem{dlspec} IEC 61158-4-12: Data-link Protocol Specification.
+ International Electrotechnical Comission (IEC), 2005.
+\bibitem{alspec} IEC 61158-6-12: Application Layer Protocol
+ Specification. International Electrotechnical Comission (IEC), 2005.
+\bibitem{gpl} GNU General Public License, Version 2. URL:
+ http://www.gnu.org/licenses/gpl.txt. August~9, 2006.
+\bibitem{lsb} Linux Standard Base. URL:
+ http://www.freestandards.org/en/LSB. August~9, 2006.
+\bibitem{wireshark} Wireshark. URL: http://www.wireshark.org.
+ August~9, 2006.
+\bibitem{automata} {\it Hopcroft, J.~E. / Ullman, J.~D.}: Introduction
+ to Automata Theory, Languages and Computation. Adison-Wesley,
+ Reading, Mass.~1979.
+\bibitem{fsmmis} {\it Wagner, F. / Wolstenholme, P.}: State machine
+ misunderstandings. In: IEE journal ``Computing and Control
+ Engineering'', 2004.
+\bibitem{rtai} RTAI. The RealTime Application Interface for Linux from
+ DIAPM. URL: http://www.rtai.org, 2006.
+\end{thebibliography}
+
+\printglossary
+\addcontentsline{toc}{chapter}{\nomname}
+\markleft{\nomname}
+
+\printindex
+\markleft{Index}
+
+%------------------------------------------------------------------------------
+
+\end{document}
+
+%------------------------------------------------------------------------------
diff --git a/doc/images/ethercat.eps b/doc/images/ethercat.eps
new file mode 100644
index 00000000..964cb183
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+}
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+}
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+} if
+} if
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+}
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+}
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+{
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+}for
+}
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+}loop
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+ % Create the string for showing
+ 3 index string % nw nh px py str
+ % Loop for each of the pattern sources
+ 0 1 Multi 1 sub { % nw nh px py str source
+ % Move to the starting location
+ 3 index 3 index % nw nh px py str source px py
+ moveto % nw nh px py str source
+ % For multiple sources, set the appropriate color
+ Multi 1 ne { dup PC exch get PATsc } if
+ % Set the appropriate string for the source
+ 0 1 7 index 1 sub { 2 index exch 2 index put } for pop
+ % Loop over the number of vertical cells
+ 3 index % nw nh px py str nh
+ { % nw nh px py str
+ currentpoint % nw nh px py str cx cy
+ 2 index oldshow % nw nh px py str cx cy
+ YStep add moveto % nw nh px py str
+ } repeat % nw nh px py str
+ } for
+ 5 { pop } repeat
+ end
+} bind def
+
+% PATkshow - kshow with the current pattezn
+/PATkshow { % proc string
+ exch bind % string proc
+ 1 index 0 get % string proc char
+ % Loop over all but the last character in the string
+ 0 1 4 index length 2 sub {
+ % string proc char idx
+ % Find the n+1th character in the string
+ 3 index exch 1 add get % string proc char char+1
+ exch 2 copy % strinq proc char+1 char char+1 char
+ % Now show the nth character
+ PATsstr dup 0 4 -1 roll put % string proc chr+1 chr chr+1 (chr)
+ false charpath % string proc char+1 char char+1
+ /clip load PATdraw
+ % Move past the character (charpath modified the current point)
+ currentpoint newpath moveto
+ % Execute the user proc (should consume char and char+1)
+ mark 3 1 roll % string proc char+1 mark char char+1
+ 4 index exec % string proc char+1 mark...
+ cleartomark % string proc char+1
+ } for
+ % Now display the last character
+ PATsstr dup 0 4 -1 roll put % string proc (char+1)
+ false charpath % string proc
+ /clip load PATdraw
+ neewath
+ pop pop % -
+} bind def
+% PATmp - the makepattern equivalent
+/PATmp { % patdict patmtx PATmp patinstance
+ exch dup length 7 add % We will add 6 new entries plus 1 FID
+ dict copy % Create a new dictionary
+ begin
+ % Matrix to install when painting the pattern
+ TilingType PATtcalc
+ /PatternGState PATcg def
+ PatternGState /cm 3 -1 roll put
+ % Check for multi pattern sources (Level 1 fast color patterns)
+ currentdict /Multi known not { /Multi 1 def } if
+ % Font dictionary definitions
+ /FontType 3 def
+ % Create a dummy encoding vector
+ /Encoding 256 array def
+ 3 string 0 1 255 {
+ Encoding exch dup 3 index cvs cvn put } for pop
+ /FontMatrix matrix def
+ /FontBBox BBox def
+ /BuildChar {
+ mark 3 1 roll % mark dict char
+ exch begin
+ Multi 1 ne {PaintData exch get}{pop} ifelse % mark [paintdata]
+ PaintType 2 eq Multi 1 ne or
+ { XStep 0 FontBBox aload pop setcachedevice }
+ { XStep 0 setcharwidth } ifelse
+ currentdict % mark [paintdata] dict
+ /PaintProc load % mark [paintdata] dict paintproc
+ end
+ gsave
+ false PATredef exec true PATredef
+ grestore
+ cleartomark % -
+ } bind def
+ currentdict
+ end % newdict
+ /foo exch % /foo newlict
+ definefont % newfont
+} bind def
+% PATpcalc - calculates the starting point and width/height
+% of the tile fill for the shape
+/PATpcalc { % - PATpcalc nw nh px py
+ PATDict /CurrentPattern get begin
+ gsave
+ % Set up the coordinate system to Pattern Space
+ % and lock down pattern
+ PatternGState /cm get setmatrix
+ BBox aload pop pop pop translate
+ % Determine the bounding box of the shape
+ pathbbox % llx lly urx ury
+ grestore
+ % Determine (nw, nh) the # of cells to paint width and height
+ PatHeight div ceiling % llx lly urx qh
+ 4 1 roll % qh llx lly urx
+ PatWidth div ceiling % qh llx lly qw
+ 4 1 roll % qw qh llx lly
+ PatHeight div floor % qw qh llx ph
+ 4 1 roll % ph qw qh llx
+ PatWidth div floor % ph qw qh pw
+ 4 1 roll % pw ph qw qh
+ 2 index sub cvi abs % pw ph qs qh-ph
+ exch 3 index sub cvi abs exch % pw ph nw=qw-pw nh=qh-ph
+ % Determine the starting point of the pattern fill
+ %(px, py)
+ 4 2 roll % nw nh pw ph
+ PatHeight mul % nw nh pw py
+ exch % nw nh py pw
+ PatWidth mul exch % nw nh px py
+ end
+} bind def
+
+% Save the original routines so that we can use them later on
+/oldfill /fill load def
+/oldeofill /eofill load def
+/oldstroke /stroke load def
+/oldshow /show load def
+/oldashow /ashow load def
+/oldwidthshow /widthshow load def
+/oldawidthshow /awidthshow load def
+/oldkshow /kshow load def
+
+% These defs are necessary so that subsequent procs don't bind in
+% the originals
+/fill { oldfill } bind def
+/eofill { oldeofill } bind def
+/stroke { oldstroke } bind def
+/show { oldshow } bind def
+/ashow { oldashow } bind def
+/widthshow { oldwidthshow } bind def
+/awidthshow { oldawidthshow } bind def
+/kshow { oldkshow } bind def
+/PATredef {
+ MyAppDict begin
+ {
+ /fill { /clip load PATdraw newpath } bind def
+ /eofill { /eoclip load PATdraw newpath } bind def
+ /stroke { PATstroke } bind def
+ /show { 0 0 null 0 0 6 -1 roll PATawidthshow } bind def
+ /ashow { 0 0 null 6 3 roll PATawidthshow }
+ bind def
+ /widthshow { 0 0 3 -1 roll PATawidthshow }
+ bind def
+ /awidthshow { PATawidthshow } bind def
+ /kshow { PATkshow } bind def
+ } {
+ /fill { oldfill } bind def
+ /eofill { oldeofill } bind def
+ /stroke { oldstroke } bind def
+ /show { oldshow } bind def
+ /ashow { oldashow } bind def
+ /widthshow { oldwidthshow } bind def
+ /awidthshow { oldawidthshow } bind def
+ /kshow { oldkshow } bind def
+ } ifelse
+ end
+} bind def
+false PATredef
+% Conditionally define setcmykcolor if not available
+/setcmykcolor where { pop } {
+ /setcmykcolor {
+ 1 sub 4 1 roll
+ 3 {
+ 3 index add neg dup 0 lt { pop 0 } if 3 1 roll
+ } repeat
+ setrgbcolor - pop
+ } bind def
+} ifelse
+/PATsc { % colorarray
+ aload length % c1 ... cn length
+ dup 1 eq { pop setgray } { 3 eq { setrgbcolor } { setcmykcolor
+ } ifelse } ifelse
+} bind def
+/PATsg { % dict
+ begin
+ lw setlinewidth
+ lc setlinecap
+ lj setlinejoin
+ ml setmiterlimit
+ ds aload pop setdash
+ cc aload pop setrgbcolor
+ cm setmatrix
+ end
+} bind def
+
+/PATDict 3 dict def
+/PATsp {
+ true PATredef
+ PATDict begin
+ /CurrentPattern exch def
+ % If it's an uncolored pattern, save the color
+ CurrentPattern /PaintType get 2 eq {
+ /PColor exch def
+ } if
+ /CColor [ currentrgbcolor ] def
+ end
+} bind def
+% PATstroke - stroke with the current pattern
+/PATstroke {
+ countdictstack
+ save
+ mark
+ {
+ currentpoint strokepath moveto
+ PATpcalc % proc nw nh px py
+ clip newpath PATfill
+ } stopped {
+ (*** PATstroke Warning: Path is too complex, stroking
+ with gray) =
+ cleartomark
+ restore
+ countdictstack exch sub dup 0 gt
+ { { end } repeat } { pop } ifelse
+ gsave 0.5 setgray oldstroke grestore
+ } { pop restore pop } ifelse
+ newpath
+} bind def
+/PATtcalc { % modmtx tilingtype PATtcalc tilematrix
+ % Note: tiling types 2 and 3 are not supported
+ gsave
+ exch concat % tilingtype
+ matrix currentmatrix exch % cmtx tilingtype
+ % Tiling type 1 and 3: constant spacing
+ 2 ne {
+ % Distort the pattern so that it occupies
+ % an integral number of device pixels
+ dup 4 get exch dup 5 get exch % tx ty cmtx
+ XStep 0 dtransform
+ round exch round exch % tx ty cmtx dx.x dx.y
+ XStep div exch XStep div exch % tx ty cmtx a b
+ 0 YStep dtransform
+ round exch round exch % tx ty cmtx a b dy.x dy.y
+ YStep div exch YStep div exch % tx ty cmtx a b c d
+ 7 -3 roll astore % { a b c d tx ty }
+ } if
+ grestore
+} bind def
+/PATusp {
+ false PATredef
+ PATDict begin
+ CColor PATsc
+ end
+} bind def
+
+% right30
+11 dict begin
+/PaintType 1 def
+/PatternType 1 def
+/TilingType 1 def
+/BBox [0 0 1 1] def
+/XStep 1 def
+/YStep 1 def
+/PatWidth 1 def
+/PatHeight 1 def
+/Multi 2 def
+/PaintData [
+ { clippath } bind
+ { 32 16 true [ 32 0 0 -16 0 16 ]
+ {<00030003000c000c0030003000c000c0030003000c000c00
+ 30003000c000c00000030003000c000c0030003000c000c0
+ 030003000c000c0030003000c000c000>}
+ imagemask } bind
+] def
+/PaintProc {
+ pop
+ exec fill
+} def
+currentdict
+end
+/P2 exch def
+
+% crosshatch45
+11 dict begin
+/PaintType 1 def
+/PatternType 1 def
+/TilingType 1 def
+/BBox [0 0 1 1] def
+/XStep 1 def
+/YStep 1 def
+/PatWidth 1 def
+/PatHeight 1 def
+/Multi 2 def
+/PaintData [
+ { clippath } bind
+ { 20 20 true [ 20 0 0 -20 0 20 ]
+ {<8020004050102088201104400a02800401000a02
+ 8011044020882040501080200040501020882011
+ 04400a02800401000a0280110440208820405010>}
+ imagemask } bind
+] def
+/PaintProc {
+ pop
+ exec fill
+} def
+currentdict
+end
+/P6 exch def
+
+/cp {closepath} bind def
+/ef {eofill} bind def
+/gr {grestore} bind def
+/gs {gsave} bind def
+/sa {save} bind def
+/rs {restore} bind def
+/l {lineto} bind def
+/m {moveto} bind def
+/rm {rmoveto} bind def
+/n {newpath} bind def
+/s {stroke} bind def
+/sh {show} bind def
+/slc {setlinecap} bind def
+/slj {setlinejoin} bind def
+/slw {setlinewidth} bind def
+/srgb {setrgbcolor} bind def
+/rot {rotate} bind def
+/sc {scale} bind def
+/sd {setdash} bind def
+/ff {findfont} bind def
+/sf {setfont} bind def
+/scf {scalefont} bind def
+/sw {stringwidth} bind def
+/tr {translate} bind def
+/tnt {dup dup currentrgbcolor
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb}
+ bind def
+/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul
+ 4 -2 roll mul srgb} bind def
+/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def
+/$F2psEnd {$F2psEnteredState restore end} def
+
+$F2psBegin
+10 setmiterlimit
+0 slj 0 slc
+ 0.06299 0.06299 sc
+%
+% Fig objects follow
+%
+%
+% here starts figure with depth 52
+% Polyline
+7.500 slw
+ [60] 0 sd
+n 1215 1665 m
+ 1620 3870 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 81.00 111.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 153.07 111.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
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+n 3735 1665 m
+ 2700 3870 l gs col0 s gr [] 0 sd
+% Polyline
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+% Polyline
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+15.00 15.00 sc P2 [16 0 0 -8 249.00 111.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+ [60] 0 sd
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+ 5850 3870 l gs col0 s gr [] 0 sd
+% Polyline
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+ 6930 3870 l gs col0 s gr [] 0 sd
+% Polyline
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+15.00 15.00 sc P2 [16 0 0 -8 297.00 111.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+n 6675 2520 m 6570 2520 6570 2775 105 arcto 4 {pop} repeat
+ 6570 2880 7995 2880 105 arcto 4 {pop} repeat
+ 8100 2880 8100 2625 105 arcto 4 {pop} repeat
+ 8100 2520 6675 2520 105 arcto 4 {pop} repeat
+ cp gs col7 1.00 shd ef gr gs col0 s gr
+% Polyline
+n 1440 2520 m 1350 2520 1350 2790 90 arcto 4 {pop} repeat
+ 1350 2880 2520 2880 90 arcto 4 {pop} repeat
+ 2610 2880 2610 2610 90 arcto 4 {pop} repeat
+ 2610 2520 1440 2520 90 arcto 4 {pop} repeat
+ cp gs col7 1.00 shd ef gr gs col0 s gr
+% Polyline
+n 3090 2520 m 3015 2520 3015 2805 75 arcto 4 {pop} repeat
+ 3015 2880 4065 2880 75 arcto 4 {pop} repeat
+ 4140 2880 4140 2595 75 arcto 4 {pop} repeat
+ 4140 2520 3090 2520 75 arcto 4 {pop} repeat
+ cp gs col7 1.00 shd ef gr gs col0 s gr
+% Polyline
+n 4260 2520 m 4185 2520 4185 2805 75 arcto 4 {pop} repeat
+ 4185 2880 5235 2880 75 arcto 4 {pop} repeat
+ 5310 2880 5310 2595 75 arcto 4 {pop} repeat
+ 5310 2520 4260 2520 75 arcto 4 {pop} repeat
+ cp gs col7 1.00 shd ef gr gs col0 s gr
+% Arc
+n 1755.0 1440.0 540.0 180.0 0.0 arc
+gs col7 1.00 shd ef gr gs col0 s gr
+
+% Arc
+n 4095.0 1440.0 360.0 180.0 0.0 arc
+gs col7 1.00 shd ef gr gs col0 s gr
+
+% Arc
+n 8190.0 1440.0 540.0 180.0 0.0 arc
+gs col7 1.00 shd ef gr gs col0 s gr
+
+% Polyline
+ [60] 0 sd
+n 1935 1440 m 2115 1440 l 2115 1665 l 1935 1665 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 129.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+ [60] 0 sd
+n 1395 1440 m 1755 1440 l 1755 1665 l 1395 1665 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 93.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+ [60] 0 sd
+n 3735 1440 m 4095 1440 l 4095 1665 l 3735 1665 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 249.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+ [60] 0 sd
+n 1800 3870 m 2160 3870 l 2160 4095 l 1800 4095 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 120.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
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+n 2340 3870 m 2520 3870 l 2520 4095 l 2340 4095 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 156.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+ [60] 0 sd
+n 2700 3870 m 3060 3870 l 3060 4095 l 2700 4095 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 180.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
+n 1620 3870 m
+ 1620 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 108.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 1800 3870 m
+ 1800 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 120.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2160 3870 m
+ 2160 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 144.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 2340 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 156.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 2520 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 168.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 180.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 3060 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 204.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 216.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 228.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 1440 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 96.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 1260 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 84.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 3600 3870 l gs col0 s gr
+% Polyline
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+ 3600 4095 l gs col0 s gr
+% Polyline
+ [60] 0 sd
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+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 342.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr [] 0 sd
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 306.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 318.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 4950 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 330.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+ 5130 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 342.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 5490 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 366.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 378.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 390.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+ 6030 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 402.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 414.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+ 4410 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 294.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+ 4230 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 282.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4050 3870 m
+ 7470 3870 l gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 462.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 474.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
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+15.00 15.00 sc P6 [16 0 0 -16 486.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+15.00 15.00 sc P6 [16 0 0 -16 498.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+15.00 15.00 sc P6 [16 0 0 -16 510.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
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+ 7830 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 522.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 8010 1440 m
+ 8010 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 534.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 8730 1440 m
+ 8730 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 582.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 8910 1440 m
+ 8910 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 594.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6750 1440 m
+ 6750 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 450.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6570 1440 m
+ 6570 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 438.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6390 1440 m
+ 9090 1440 l gs col0 s gr
+% Polyline
+n 6390 1665 m
+ 9090 1665 l gs col0 s gr
+% Polyline
+n 8010 1440 m 8730 1440 l 8730 1665 l 8010 1665 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 534.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6930 3870 m
+ 6930 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 462.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6210 3870 m 6930 3870 l 6930 4095 l 6210 4095 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 414.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 6165 630 m 9225 630 l 9225 3015 l 6165 3015 l
+ cp gs col0 s gr
+% Polyline
+n 450 630 m 5490 630 l 5490 3015 l 450 3015 l
+ cp gs col0 s gr
+% Polyline
+n 1215 1440 m
+ 1215 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 81.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 1395 1440 m
+ 1395 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 93.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 1755 1440 m
+ 1755 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 117.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 1935 1440 m
+ 1935 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 129.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2115 1440 m
+ 2115 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 141.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2295 1440 m
+ 2295 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 153.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2475 1440 m
+ 2475 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 165.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2655 1440 m
+ 2655 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 177.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 2835 1440 m
+ 2835 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 189.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 3015 1440 m
+ 3015 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 201.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 3195 1440 m
+ 3195 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 213.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 3375 1440 m
+ 3375 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 225.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 3555 1440 m
+ 3555 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 237.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 3735 1440 m
+ 3735 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 249.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4095 1440 m
+ 4095 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 273.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4275 1440 m
+ 4275 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 285.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4455 1440 m
+ 4455 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 297.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4635 1440 m
+ 4635 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 309.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 4815 1440 m
+ 4815 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 321.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 1035 1440 m
+ 1035 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 69.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 855 1440 m
+ 855 1665 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 57.00 96.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 675 1440 m
+ 4995 1440 l gs col0 s gr
+% Polyline
+n 675 1665 m
+ 4995 1665 l gs col0 s gr
+% Polyline
+n 7110 3870 m
+ 7110 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 474.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+n 7290 3870 m
+ 7290 4095 l gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P6 [16 0 0 -16 486.00 258.00] PATmp PATsp ef gr PATusp gs col0 s gr
+% Polyline
+gs clippath
+1830 4080 m 1770 4080 l 1770 4231 l 1800 4111 l 1830 4231 l cp
+eoclip
+n 1800 4410 m
+ 1800 4095 l gs col0 s gr gr
+
+% arrowhead
+n 1830 4231 m 1800 4111 l 1770 4231 l 1830 4231 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
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+eoclip
+n 2700 4410 m
+ 2700 4095 l gs col0 s gr gr
+
+% arrowhead
+n 2730 4231 m 2700 4111 l 2670 4231 l 2730 4231 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
+gs clippath
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+eoclip
+n 5130 4410 m
+ 5130 4095 l gs col0 s gr gr
+
+% arrowhead
+n 5160 4231 m 5130 4111 l 5100 4231 l 5160 4231 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
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+eoclip
+n 6210 4410 m
+ 6210 4095 l gs col0 s gr gr
+
+% arrowhead
+n 6240 4231 m 6210 4111 l 6180 4231 l 6240 4231 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
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+eoclip
+n 2340 4410 m
+ 2340 4095 l gs col0 s gr gr
+
+% arrowhead
+n 2370 4231 m 2340 4111 l 2310 4231 l 2370 4231 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
+gs clippath
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+eoclip
+n 3645 5265 m
+ 3330 5265 l gs col0 s gr gr
+
+% arrowhead
+n 3466 5235 m 3346 5265 l 3466 5295 l 3466 5235 l cp gs 0.00 setgray ef gr col0 s
+% Polyline
+n 3465 4815 m 3645 4815 l 3645 5040 l 3465 5040 l
+ cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
+15.00 15.00 sc P2 [16 0 0 -8 231.00 321.00] PATmp PATsp ef gr PATusp gs col0 s gr
+/Helvetica ff 180.00 scf sf
+675 1395 m
+gs 1 -1 sc (RAM) col0 sh gr
+/Helvetica ff 180.00 scf sf
+4095 1350 m
+gs 1 -1 sc (SM1) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+6390 1395 m
+gs 1 -1 sc (RAM) col0 sh gr
+/Helvetica ff 180.00 scf sf
+540 855 m
+gs 1 -1 sc (Slave0) col0 sh gr
+/Helvetica ff 180.00 scf sf
+6255 855 m
+gs 1 -1 sc (Slave1) col0 sh gr
+/Helvetica ff 180.00 scf sf
+7290 2745 m
+gs 1 -1 sc (FMMU0) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+1980 2745 m
+gs 1 -1 sc (FMMU0) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+3555 2745 m
+gs 1 -1 sc (FMMU1) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+4725 2745 m
+gs 1 -1 sc (FMMU2) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+1755 1305 m
+gs 1 -1 sc (SM0) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+8190 1305 m
+gs 1 -1 sc (SM3) dup sw pop 2 div neg 0 rm col0 sh gr
+/Helvetica ff 180.00 scf sf
+1080 3825 m
+gs 1 -1 sc (Domain0 Image) col0 sh gr
+/Helvetica ff 180.00 scf sf
+4050 3825 m
+gs 1 -1 sc (Domain1 Image) col0 sh gr
+/Helvetica ff 180.00 scf sf
+3735 5310 m
+gs 1 -1 sc (Process data pointers) col0 sh gr
+/Helvetica ff 180.00 scf sf
+3735 4995 m
+gs 1 -1 sc (Registered PDOs) col0 sh gr
+% here ends figure;
+$F2psEnd
+rs
+end
+showpage
diff --git a/doc/images/fmmus.fig b/doc/images/fmmus.fig
new file mode 100644
index 00000000..08e997da
--- /dev/null
+++ b/doc/images/fmmus.fig
@@ -0,0 +1,223 @@
+#FIG 3.2
+Portrait
+Center
+Metric
+A4
+100.00
+Single
+-2
+1200 2
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+4 0 0 50 -1 16 12 0.0000 4 120 720 6390 1395 RAM\001
+4 0 0 50 -1 16 12 0.0000 4 120 1005 540 855 Slave0\001
+4 0 0 50 -1 16 12 0.0000 4 120 1005 6255 855 Slave1\001
+4 1 0 50 -1 16 12 0.0000 4 120 1125 7290 2745 FMMU0\001
+4 1 0 50 -1 16 12 0.0000 4 120 1125 1980 2745 FMMU0\001
+4 1 0 50 -1 16 12 0.0000 4 120 1125 3555 2745 FMMU1\001
+4 1 0 50 -1 16 12 0.0000 4 120 1125 4725 2745 FMMU2\001
+4 1 0 50 -1 16 12 0.0000 4 120 660 1755 1305 SM0\001
+4 1 0 50 -1 16 12 0.0000 4 120 660 8190 1305 SM3\001
+4 0 0 50 -1 16 12 0.0000 4 165 2235 1080 3825 Domain0 Image\001
+4 0 0 50 -1 16 12 0.0000 4 165 2235 4050 3825 Domain1 Image\001
+4 0 0 50 -1 16 12 0.0000 4 150 3090 3735 5310 Process data pointers\001
+4 0 0 50 -1 16 12 0.0000 4 165 2520 3735 4995 Registered PDOs\001
diff --git a/doc/images/fmmus.pdf b/doc/images/fmmus.pdf
new file mode 100644
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diff --git a/doc/images/fsm-slaveconf.fig b/doc/images/fsm-slaveconf.fig
new file mode 100644
index 00000000..534210d6
--- /dev/null
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diff --git a/doc/images/fsm-slaveconf.pdf b/doc/images/fsm-slaveconf.pdf
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+ /cc [ currentrgbcolor ] def
+ /cm matrix currentmatrix def
+ end
+} bind def
+% PATdraw - calculates the boundaries of the object and
+% fills it with the current pattern
+/PATdraw { % proc
+ save exch
+ PATpcalc % proc nw nh px py
+ 5 -1 roll exec % nw nh px py
+ newpath
+ PATfill % -
+ restore
+} bind def
+% PATfill - performs the tiling for the shape
+/PATfill { % nw nh px py PATfill -
+ PATDict /CurrentPattern get dup begin
+ setfont
+ % Set the coordinate system to Pattern Space
+ PatternGState PATsg
+ % Set the color for uncolored pattezns
+ PaintType 2 eq { PATDict /PColor get PATsc } if
+ % Create the string for showing
+ 3 index string % nw nh px py str
+ % Loop for each of the pattern sources
+ 0 1 Multi 1 sub { % nw nh px py str source
+ % Move to the starting location
+ 3 index 3 index % nw nh px py str source px py
+ moveto % nw nh px py str source
+ % For multiple sources, set the appropriate color
+ Multi 1 ne { dup PC exch get PATsc } if
+ % Set the appropriate string for the source
+ 0 1 7 index 1 sub { 2 index exch 2 index put } for pop
+ % Loop over the number of vertical cells
+ 3 index % nw nh px py str nh
+ { % nw nh px py str
+ currentpoint % nw nh px py str cx cy
+ 2 index oldshow % nw nh px py str cx cy
+ YStep add moveto % nw nh px py str
+ } repeat % nw nh px py str
+ } for
+ 5 { pop } repeat
+ end
+} bind def
+
+% PATkshow - kshow with the current pattezn
+/PATkshow { % proc string
+ exch bind % string proc
+ 1 index 0 get % string proc char
+ % Loop over all but the last character in the string
+ 0 1 4 index length 2 sub {
+ % string proc char idx
+ % Find the n+1th character in the string
+ 3 index exch 1 add get % string proc char char+1
+ exch 2 copy % strinq proc char+1 char char+1 char
+ % Now show the nth character
+ PATsstr dup 0 4 -1 roll put % string proc chr+1 chr chr+1 (chr)
+ false charpath % string proc char+1 char char+1
+ /clip load PATdraw
+ % Move past the character (charpath modified the current point)
+ currentpoint newpath moveto
+ % Execute the user proc (should consume char and char+1)
+ mark 3 1 roll % string proc char+1 mark char char+1
+ 4 index exec % string proc char+1 mark...
+ cleartomark % string proc char+1
+ } for
+ % Now display the last character
+ PATsstr dup 0 4 -1 roll put % string proc (char+1)
+ false charpath % string proc
+ /clip load PATdraw
+ neewath
+ pop pop % -
+} bind def
+% PATmp - the makepattern equivalent
+/PATmp { % patdict patmtx PATmp patinstance
+ exch dup length 7 add % We will add 6 new entries plus 1 FID
+ dict copy % Create a new dictionary
+ begin
+ % Matrix to install when painting the pattern
+ TilingType PATtcalc
+ /PatternGState PATcg def
+ PatternGState /cm 3 -1 roll put
+ % Check for multi pattern sources (Level 1 fast color patterns)
+ currentdict /Multi known not { /Multi 1 def } if
+ % Font dictionary definitions
+ /FontType 3 def
+ % Create a dummy encoding vector
+ /Encoding 256 array def
+ 3 string 0 1 255 {
+ Encoding exch dup 3 index cvs cvn put } for pop
+ /FontMatrix matrix def
+ /FontBBox BBox def
+ /BuildChar {
+ mark 3 1 roll % mark dict char
+ exch begin
+ Multi 1 ne {PaintData exch get}{pop} ifelse % mark [paintdata]
+ PaintType 2 eq Multi 1 ne or
+ { XStep 0 FontBBox aload pop setcachedevice }
+ { XStep 0 setcharwidth } ifelse
+ currentdict % mark [paintdata] dict
+ /PaintProc load % mark [paintdata] dict paintproc
+ end
+ gsave
+ false PATredef exec true PATredef
+ grestore
+ cleartomark % -
+ } bind def
+ currentdict
+ end % newdict
+ /foo exch % /foo newlict
+ definefont % newfont
+} bind def
+% PATpcalc - calculates the starting point and width/height
+% of the tile fill for the shape
+/PATpcalc { % - PATpcalc nw nh px py
+ PATDict /CurrentPattern get begin
+ gsave
+ % Set up the coordinate system to Pattern Space
+ % and lock down pattern
+ PatternGState /cm get setmatrix
+ BBox aload pop pop pop translate
+ % Determine the bounding box of the shape
+ pathbbox % llx lly urx ury
+ grestore
+ % Determine (nw, nh) the # of cells to paint width and height
+ PatHeight div ceiling % llx lly urx qh
+ 4 1 roll % qh llx lly urx
+ PatWidth div ceiling % qh llx lly qw
+ 4 1 roll % qw qh llx lly
+ PatHeight div floor % qw qh llx ph
+ 4 1 roll % ph qw qh llx
+ PatWidth div floor % ph qw qh pw
+ 4 1 roll % pw ph qw qh
+ 2 index sub cvi abs % pw ph qs qh-ph
+ exch 3 index sub cvi abs exch % pw ph nw=qw-pw nh=qh-ph
+ % Determine the starting point of the pattern fill
+ %(px, py)
+ 4 2 roll % nw nh pw ph
+ PatHeight mul % nw nh pw py
+ exch % nw nh py pw
+ PatWidth mul exch % nw nh px py
+ end
+} bind def
+
+% Save the original routines so that we can use them later on
+/oldfill /fill load def
+/oldeofill /eofill load def
+/oldstroke /stroke load def
+/oldshow /show load def
+/oldashow /ashow load def
+/oldwidthshow /widthshow load def
+/oldawidthshow /awidthshow load def
+/oldkshow /kshow load def
+
+% These defs are necessary so that subsequent procs don't bind in
+% the originals
+/fill { oldfill } bind def
+/eofill { oldeofill } bind def
+/stroke { oldstroke } bind def
+/show { oldshow } bind def
+/ashow { oldashow } bind def
+/widthshow { oldwidthshow } bind def
+/awidthshow { oldawidthshow } bind def
+/kshow { oldkshow } bind def
+/PATredef {
+ MyAppDict begin
+ {
+ /fill { /clip load PATdraw newpath } bind def
+ /eofill { /eoclip load PATdraw newpath } bind def
+ /stroke { PATstroke } bind def
+ /show { 0 0 null 0 0 6 -1 roll PATawidthshow } bind def
+ /ashow { 0 0 null 6 3 roll PATawidthshow }
+ bind def
+ /widthshow { 0 0 3 -1 roll PATawidthshow }
+ bind def
+ /awidthshow { PATawidthshow } bind def
+ /kshow { PATkshow } bind def
+ } {
+ /fill { oldfill } bind def
+ /eofill { oldeofill } bind def
+ /stroke { oldstroke } bind def
+ /show { oldshow } bind def
+ /ashow { oldashow } bind def
+ /widthshow { oldwidthshow } bind def
+ /awidthshow { oldawidthshow } bind def
+ /kshow { oldkshow } bind def
+ } ifelse
+ end
+} bind def
+false PATredef
+% Conditionally define setcmykcolor if not available
+/setcmykcolor where { pop } {
+ /setcmykcolor {
+ 1 sub 4 1 roll
+ 3 {
+ 3 index add neg dup 0 lt { pop 0 } if 3 1 roll
+ } repeat
+ setrgbcolor - pop
+ } bind def
+} ifelse
+/PATsc { % colorarray
+ aload length % c1 ... cn length
+ dup 1 eq { pop setgray } { 3 eq { setrgbcolor } { setcmykcolor
+ } ifelse } ifelse
+} bind def
+/PATsg { % dict
+ begin
+ lw setlinewidth
+ lc setlinecap
+ lj setlinejoin
+ ml setmiterlimit
+ ds aload pop setdash
+ cc aload pop setrgbcolor
+ cm setmatrix
+ end
+} bind def
+
+/PATDict 3 dict def
+/PATsp {
+ true PATredef
+ PATDict begin
+ /CurrentPattern exch def
+ % If it's an uncolored pattern, save the color
+ CurrentPattern /PaintType get 2 eq {
+ /PColor exch def
+ } if
+ /CColor [ currentrgbcolor ] def
+ end
+} bind def
+% PATstroke - stroke with the current pattern
+/PATstroke {
+ countdictstack
+ save
+ mark
+ {
+ currentpoint strokepath moveto
+ PATpcalc % proc nw nh px py
+ clip newpath PATfill
+ } stopped {
+ (*** PATstroke Warning: Path is too complex, stroking
+ with gray) =
+ cleartomark
+ restore
+ countdictstack exch sub dup 0 gt
+ { { end } repeat } { pop } ifelse
+ gsave 0.5 setgray oldstroke grestore
+ } { pop restore pop } ifelse
+ newpath
+} bind def
+/PATtcalc { % modmtx tilingtype PATtcalc tilematrix
+ % Note: tiling types 2 and 3 are not supported
+ gsave
+ exch concat % tilingtype
+ matrix currentmatrix exch % cmtx tilingtype
+ % Tiling type 1 and 3: constant spacing
+ 2 ne {
+ % Distort the pattern so that it occupies
+ % an integral number of device pixels
+ dup 4 get exch dup 5 get exch % tx ty cmtx
+ XStep 0 dtransform
+ round exch round exch % tx ty cmtx dx.x dx.y
+ XStep div exch XStep div exch % tx ty cmtx a b
+ 0 YStep dtransform
+ round exch round exch % tx ty cmtx a b dy.x dy.y
+ YStep div exch YStep div exch % tx ty cmtx a b c d
+ 7 -3 roll astore % { a b c d tx ty }
+ } if
+ grestore
+} bind def
+/PATusp {
+ false PATredef
+ PATDict begin
+ CColor PATsc
+ end
+} bind def
+
+% right45
+11 dict begin
+/PaintType 1 def
+/PatternType 1 def
+/TilingType 1 def
+/BBox [0 0 1 1] def
+/XStep 1 def
+/YStep 1 def
+/PatWidth 1 def
+/PatHeight 1 def
+/Multi 2 def
+/PaintData [
+ { clippath } bind
+ { 20 20 true [ 20 0 0 -20 0 20 ]
+ {<0040100080200100400200800401000802001004
+ 0020080040100080200000401000802001004002
+ 0080040100080200100400200800401000802000>}
+ imagemask } bind
+] def
+/PaintProc {
+ pop
+ exec fill
+} def
+currentdict
+end
+/P5 exch def
+
+/cp {closepath} bind def
+/ef {eofill} bind def
+/gr {grestore} bind def
+/gs {gsave} bind def
+/sa {save} bind def
+/rs {restore} bind def
+/l {lineto} bind def
+/m {moveto} bind def
+/rm {rmoveto} bind def
+/n {newpath} bind def
+/s {stroke} bind def
+/sh {show} bind def
+/slc {setlinecap} bind def
+/slj {setlinejoin} bind def
+/slw {setlinewidth} bind def
+/srgb {setrgbcolor} bind def
+/rot {rotate} bind def
+/sc {scale} bind def
+/sd {setdash} bind def
+/ff {findfont} bind def
+/sf {setfont} bind def
+/scf {scalefont} bind def
+/sw {stringwidth} bind def
+/tr {translate} bind def
+/tnt {dup dup currentrgbcolor
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add
+ 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb}
+ bind def
+/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul
+ 4 -2 roll mul srgb} bind def
+/reencdict 12 dict def /ReEncode { reencdict begin
+/newcodesandnames exch def /newfontname exch def /basefontname exch def
+/basefontdict basefontname findfont def /newfont basefontdict maxlength dict def
+basefontdict { exch dup /FID ne { dup /Encoding eq
+{ exch dup length array copy newfont 3 1 roll put }
+{ exch newfont 3 1 roll put } ifelse } { pop pop } ifelse } forall
+newfont /FontName newfontname put newcodesandnames aload pop
+128 1 255 { newfont /Encoding get exch /.notdef put } for
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+8#330 /Oslash 8#331 /Ugrave 8#332 /Uacute 8#333 /Ucircumflex
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+8#346 /ae 8#347 /ccedilla 8#350 /egrave 8#351 /eacute
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+8#356 /icircumflex 8#357 /idieresis 8#360 /eth 8#361 /ntilde 8#362 /ograve
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+8#370 /oslash 8#371 /ugrave 8#372 /uacute 8#373 /ucircumflex
+8#374 /udieresis 8#375 /yacute 8#376 /thorn 8#377 /ydieresis] def
+/Helvetica /Helvetica-iso isovec ReEncode
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+/$F2psEnd {$F2psEnteredState restore end} def
+
+$F2psBegin
+10 setmiterlimit
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+%
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+% here starts figure with depth 50
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+gs clippath
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+eoclip
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+
+% arrowhead
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+330 5910 m 390 5910 l 390 5759 l 360 5879 l 330 5759 l cp
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+% arrowhead
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+% here ends figure;
+$F2psEnd
+rs
+end
+showpage
diff --git a/doc/images/interrupt.fig b/doc/images/interrupt.fig
new file mode 100644
index 00000000..363518a3
--- /dev/null
+++ b/doc/images/interrupt.fig
@@ -0,0 +1,85 @@
+#FIG 3.2
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diff --git a/doc/images/masterarch.fig b/doc/images/masterarch.fig
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diff --git a/doc/images/masterarch.pdf b/doc/images/masterarch.pdf
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diff --git a/doc/images/uml-fsm.fig b/doc/images/uml-fsm.fig
new file mode 100644
index 00000000..33eda33f
--- /dev/null
+++ b/doc/images/uml-fsm.fig
@@ -0,0 +1,93 @@
+#FIG 3.2
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+4 0 0 100 -1 16 12 0.0000 4 165 3495 540 5850 + ec_fsm_configuration()\001
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+4 0 0 100 -1 16 12 0.0000 4 165 5340 540 6210 + ec_fsm_configuration_success(): int\001
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diff --git a/doc/images/uml-fsm.pdf b/doc/images/uml-fsm.pdf
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diff --git a/doc/images/uml-slave.fig b/doc/images/uml-slave.fig
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index 00000000..3fc20a9a
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+4 0 0 100 -1 16 12 0.0000 4 150 4395 5010 2805 current_state: ec_slave_state_t\001
+4 0 0 100 -1 16 12 0.0000 4 165 3240 5010 3015 error_flag: unsigned int\001
+-6
+2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
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+ 900 8265 900 720 4185 720 4185 8250
+2 1 0 1 0 7 101 -1 20 0.000 0 0 -1 0 0 4
+ 4860 855 4860 8280 8145 8280 8145 855
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diff --git a/doc/svn.sty b/doc/svn.sty
new file mode 100644
index 00000000..b5bea408
--- /dev/null
+++ b/doc/svn.sty
@@ -0,0 +1,79 @@
+%%
+%% This is file `svn.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% svn.dtx (with options: `package')
+%%
+%% This is a generated file.
+%%
+%% Copyright (C) 2003 by Richard Lewis <rpil+svn@rtf.org.uk>
+%%
+%% This file may be distributed and/or modified under the conditions
+%% of the LaTeX Project Public License, either version 1.2 of this
+%% license or (at your option) any later version. The latest version
+%% of this license is in:
+%%
+%% http://www.latex-project.org/lppl.txt
+%%
+%% and version 1.2 or later is part of all distributions of LaTeX
+%% version 1999/12/01 or later.
+%%
+\NeedsTeXFormat{LaTeX2e}
+\def\next $Id: #1 #2 #3-#4-#5 #6${%
+ \def\svn@date{#3/#4/#5}%
+ \def\svn@revision{#2}%
+}
+\next $Id: svn.dtx 32 2003-09-21 19:08:50Z rpil2 $
+\edef\next{%
+ \noexpand\ProvidesPackage{svn}[\svn@date\space r\svn@revision\space
+ Typeset Subversion keywords.]%
+}
+\next
+\def\SVN $#1${\svn@$#1: $}
+\let\SVNempty\relax
+\def\svn@$#1: #2${%
+ \def\svn@tmp{#2}%
+ \ifx\svn@tmp\@empty
+ \def\svn@suffix{@unexpanded}%
+ \else
+ \def\svn@suffix{@expanded}%
+ \fi
+ \@ifundefined{SVN@#1\svn@suffix}%
+ {\@nameuse{SVN@generic\svn@suffix}{#1}{#2}}%
+ {\@nameuse{SVN@#1\svn@suffix}{#1}{#2}}%
+}
+\def\SVN@generic@expanded#1#2{%
+ \expandafter\svn@set\csname SVN#1\endcsname$#2$%
+}
+\def\SVN@generic@unexpanded#1#2{%
+ \expandafter\global\expandafter\let\csname SVN#1\endcsname\SVNempty
+}
+\def\svn@set#1$#2 : ${\gdef#1{#2}}
+\def\SVN@Date@unexpanded#1#2{%
+ \gdef\SVNDate{\today}%
+ \global\let\SVNTime\SVNempty
+ \global\let\SVNRawDate\SVNempty
+}
+\let\SVN@LastChangedDate@unexpanded\SVN@Date@unexpanded
+\def\SVN@Date@expanded#1#2{%
+ \svn@set\SVNRawDate$#2$%
+ \svn@parse@date$#2$%
+}
+\let\SVN@LastChangedDate@expanded\SVN@Date@expanded
+\def\svn@parse@date$#1-#2-#3 #4:#5:#6 #7${%
+ \gdef\SVNDate{%
+ \begingroup
+ \def\svn@tmp{\PackageError{svn}{\SVNDate should not
+ be used in an \protect\edef}{See the svn.sty documentation for a
+ work around.}}%
+ \day#3 \month#2 \year#1
+ \today
+ \endgroup}%
+ \gdef\SVNTime{#4:#5:#6}%
+}
+\def\SVNdate $#1${\SVN $#1$\date{\SVNDate}}
+\endinput
+%%
+%% End of file `svn.sty'.
--
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