From 8507108ba863a805383af548006044e4a26aea74 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 17 Mar 2006 14:21:35 +0000
Subject: [PATCH] =?UTF-8?q?MERGE=20branches/async=20->=20trunk=20(alle=20U?=
=?UTF-8?q?nterschiede=20=C3=BCbernommen)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
devices/8139too.c | 64 +++++++++---------
devices/ecdev.h | 38 +++++++++++
include/EtherCAT_dev.h | 33 ----------
include/EtherCAT_rt.h | 120 ---------------------------------
include/EtherCAT_si.h | 71 --------------------
include/ecrt.h | 146 +++++++++++++++++++++++++++++++++++++++++
master/canopen.c | 71 ++++++++++----------
master/command.c | 1 -
master/device.c | 28 ++++----
master/device.h | 6 +-
master/domain.c | 94 ++++++++++++--------------
master/domain.h | 6 +-
master/master.c | 136 +++++++++++++++++++++++++-------------
master/module.c | 45 +++++++------
master/slave.c | 1 -
master/types.c | 28 ++++----
master/types.h | 6 +-
mini/mini.c | 73 +++++++++++----------
rt/msr_module.c | 94 +++++++++++++++++---------
19 files changed, 541 insertions(+), 520 deletions(-)
create mode 100644 devices/ecdev.h
delete mode 100644 include/EtherCAT_dev.h
delete mode 100644 include/EtherCAT_rt.h
delete mode 100644 include/EtherCAT_si.h
create mode 100644 include/ecrt.h
diff --git a/devices/8139too.c b/devices/8139too.c
index 13d75430..55091701 100644
--- a/devices/8139too.c
+++ b/devices/8139too.c
@@ -134,7 +134,7 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-#include "../include/EtherCAT_dev.h"
+#include "ecdev.h"
#define EC_LIT(X) #X
#define EC_STR(X) EC_LIT(X)
@@ -1028,7 +1028,7 @@ static int __devinit rtl8139_init_one (struct pci_dev *pdev,
if (board_idx == ec_device_index)
{
printk(KERN_INFO "Registering EtherCAT device...\n");
- rtl_ec_dev = EtherCAT_dev_register(ec_device_master_index, dev,
+ rtl_ec_dev = ecdev_register(ec_device_master_index, dev,
rtl8139_interrupt, THIS_MODULE);
if (rtl_ec_dev) strcpy(dev->name, "ec0");
@@ -1092,7 +1092,7 @@ static int __devinit rtl8139_init_one (struct pci_dev *pdev,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
/* EtherCAT-Karten nicht beim Stack anmelden. */
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
DPRINTK("About to register device named %s (%p)...\n", dev->name, dev);
i = register_netdev (dev);
@@ -1190,7 +1190,7 @@ static void __devexit rtl8139_remove_one (struct pci_dev *pdev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
unregister_netdev (dev);
}
@@ -1403,7 +1403,7 @@ static int rtl8139_open (struct net_device *dev)
printk(KERN_DEBUG "%s: open\n", dev->name);
#endif
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
retval = request_irq(dev->irq, rtl8139_interrupt, SA_SHIRQ, dev->name, dev);
if (retval)
@@ -1420,7 +1420,7 @@ static int rtl8139_open (struct net_device *dev)
{
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
free_irq(dev->irq, dev);
}
@@ -1445,7 +1445,7 @@ static int rtl8139_open (struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
netif_start_queue (dev);
@@ -1471,10 +1471,10 @@ static void rtl_check_media (struct net_device *dev, unsigned int init_media)
{
struct rtl8139_private *tp = netdev_priv(dev);
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev)) {
+ if (ecdev_is_ec(rtl_ec_dev, dev)) {
void __iomem *ioaddr = tp->mmio_addr;
uint16_t state = RTL_R16(BasicModeStatus) & BMSR_LSTATUS;
- EtherCAT_dev_link_state(rtl_ec_dev, state ? 1 : 0);
+ ecdev_link_state(rtl_ec_dev, state ? 1 : 0);
}
else if (tp->phys[0] >= 0) {
mii_check_media(&tp->mii, netif_msg_link(tp), init_media);
@@ -1545,7 +1545,7 @@ static void rtl8139_hw_start (struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
/* Enable all known interrupts by setting the interrupt mask. */
RTL_W16 (IntrMask, rtl8139_intr_mask);
@@ -1814,7 +1814,7 @@ static void rtl8139_tx_timeout (struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
spin_lock(&tp->rx_lock);
@@ -1864,16 +1864,16 @@ static int rtl8139_start_xmit (struct sk_buff *skb, struct net_device *dev)
memset(tp->tx_buf[entry], 0, ETH_ZLEN);
skb_copy_and_csum_dev(skb, tp->tx_buf[entry]);
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev)) dev_kfree_skb(skb);
+ if (!ecdev_is_ec(rtl_ec_dev, dev)) dev_kfree_skb(skb);
}
else
{
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev)) dev_kfree_skb(skb);
+ if (!ecdev_is_ec(rtl_ec_dev, dev)) dev_kfree_skb(skb);
tp->stats.tx_dropped++;
return 0;
}
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
spin_lock_irq(&tp->lock);
}
@@ -1890,7 +1890,7 @@ static int rtl8139_start_xmit (struct sk_buff *skb, struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
if ((tp->cur_tx - NUM_TX_DESC) == tp->dirty_tx)
netif_stop_queue (dev);
@@ -1965,7 +1965,7 @@ static void rtl8139_tx_interrupt (struct net_device *dev,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
#ifndef RTL8139_NDEBUG
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev) && tp->cur_tx - dirty_tx > NUM_TX_DESC) {
+ if (!ecdev_is_ec(rtl_ec_dev, dev) && tp->cur_tx - dirty_tx > NUM_TX_DESC) {
printk (KERN_ERR "%s: Out-of-sync dirty pointer, %ld vs. %ld.\n",
dev->name, dirty_tx, tp->cur_tx);
dirty_tx += NUM_TX_DESC;
@@ -1981,7 +1981,7 @@ static void rtl8139_tx_interrupt (struct net_device *dev,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
netif_wake_queue (dev);
}
@@ -2120,7 +2120,7 @@ static int rtl8139_rx(struct net_device *dev, struct rtl8139_private *tp,
RTL_R16 (RxBufAddr),
RTL_R16 (RxBufPtr), RTL_R8 (ChipCmd));
- while ((EtherCAT_dev_is_ec(rtl_ec_dev, dev) || netif_running(dev))
+ while ((ecdev_is_ec(rtl_ec_dev, dev) || netif_running(dev))
&& received < budget
&& (RTL_R8 (ChipCmd) & RxBufEmpty) == 0) {
u32 ring_offset = cur_rx % RX_BUF_LEN;
@@ -2137,7 +2137,7 @@ static int rtl8139_rx(struct net_device *dev, struct rtl8139_private *tp,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev) && netif_msg_rx_status(tp))
+ if (!ecdev_is_ec(rtl_ec_dev, dev) && netif_msg_rx_status(tp))
printk(KERN_DEBUG "%s: rtl8139_rx() status %4.4x, size %4.4x,"
" cur %4.4x.\n", dev->name, rx_status,
rx_size, cur_rx);
@@ -2193,7 +2193,7 @@ no_early_rx:
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
/* Malloc up new buffer, compatible with net-2e. */
/* Omit the four octet CRC from the length. */
@@ -2226,7 +2226,7 @@ no_early_rx:
}
else
{
- EtherCAT_dev_receive(rtl_ec_dev,
+ ecdev_receive(rtl_ec_dev,
&rx_ring[ring_offset + 4] + ETH_HLEN,
pkt_size - ETH_HLEN);
dev->last_rx = jiffies;
@@ -2356,7 +2356,7 @@ irqreturn_t rtl8139_interrupt (int irq, void *dev_instance,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (ecdev_is_ec(rtl_ec_dev, dev))
{
status = RTL_R16 (IntrStatus);
}
@@ -2380,7 +2380,7 @@ irqreturn_t rtl8139_interrupt (int irq, void *dev_instance,
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
/* close possible race's with dev_close */
if (unlikely(!netif_running(dev))) {
@@ -2408,7 +2408,7 @@ irqreturn_t rtl8139_interrupt (int irq, void *dev_instance,
if (status & RxAckBits)
{
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
/* Polling vormerken */
if (netif_rx_schedule_prep(dev)) {
@@ -2438,7 +2438,7 @@ irqreturn_t rtl8139_interrupt (int irq, void *dev_instance,
out:
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
spin_unlock (&tp->lock);
}
@@ -2472,7 +2472,7 @@ static int rtl8139_close (struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (!EtherCAT_dev_is_ec(rtl_ec_dev, dev))
+ if (!ecdev_is_ec(rtl_ec_dev, dev))
{
netif_stop_queue(dev);
if (tp->thr_pid >= 0) {
@@ -2737,7 +2737,7 @@ static int netdev_ioctl(struct net_device *dev, struct ifreq *rq, int cmd)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev) || !netif_running(dev))
+ if (ecdev_is_ec(rtl_ec_dev, dev) || !netif_running(dev))
return -EINVAL;
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2758,7 +2758,7 @@ static struct net_device_stats *rtl8139_get_stats (struct net_device *dev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev) || netif_running(dev))
+ if (ecdev_is_ec(rtl_ec_dev, dev) || netif_running(dev))
{
spin_lock_irqsave (&tp->lock, flags);
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
@@ -2845,7 +2845,7 @@ static int rtl8139_suspend (struct pci_dev *pdev, pm_message_t state)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev) || !netif_running (dev))
+ if (ecdev_is_ec(rtl_ec_dev, dev) || !netif_running (dev))
return 0;
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2878,7 +2878,7 @@ static int rtl8139_resume (struct pci_dev *pdev)
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (EtherCAT_dev_is_ec(rtl_ec_dev, dev) || !netif_running (dev))
+ if (ecdev_is_ec(rtl_ec_dev, dev) || !netif_running (dev))
return 0;
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2935,7 +2935,7 @@ static int __init rtl8139_init_module (void)
out_ec_dev:
if (rtl_ec_dev) {
printk(KERN_INFO "Unregistering RTL8139-EtherCAT device...\n");
- EtherCAT_dev_unregister(ec_device_master_index, rtl_ec_dev);
+ ecdev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
}
@@ -2955,7 +2955,7 @@ static void __exit rtl8139_cleanup_module (void)
if (rtl_ec_dev) {
printk(KERN_INFO "Unregistering RTL8139-EtherCAT device...\n");
- EtherCAT_dev_unregister(ec_device_master_index, rtl_ec_dev);
+ ecdev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
}
diff --git a/devices/ecdev.h b/devices/ecdev.h
new file mode 100644
index 00000000..b5633f94
--- /dev/null
+++ b/devices/ecdev.h
@@ -0,0 +1,38 @@
+/******************************************************************************
+ *
+ * Oeffentliche EtherCAT-Schnittstellen fuer EtherCAT-Geraetetreiber.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef _ETHERCAT_DEVICE_H_
+#define _ETHERCAT_DEVICE_H_
+
+#include <linux/netdevice.h>
+
+/*****************************************************************************/
+
+struct ec_device;
+typedef struct ec_device ec_device_t;
+
+typedef irqreturn_t (*ec_isr_t)(int, void *, struct pt_regs *);
+
+/*****************************************************************************/
+// Registration functions
+
+ec_device_t *ecdev_register(unsigned int master_index,
+ struct net_device *net_dev, ec_isr_t isr,
+ struct module *module);
+void ecdev_unregister(unsigned int master_index, ec_device_t *device);
+
+/*****************************************************************************/
+// Device methods
+
+int ecdev_is_ec(const ec_device_t *device, const struct net_device *net_dev);
+void ecdev_receive(ec_device_t *device, const void *data, size_t size);
+void ecdev_link_state(ec_device_t *device, uint8_t newstate);
+
+/*****************************************************************************/
+
+#endif
diff --git a/include/EtherCAT_dev.h b/include/EtherCAT_dev.h
deleted file mode 100644
index add3ff8d..00000000
--- a/include/EtherCAT_dev.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/******************************************************************************
- *
- * Oeffentliche EtherCAT-Schnittstellen fuer EtherCAT-Geraetetreiber.
- *
- * $Id$
- *
- *****************************************************************************/
-
-#ifndef _ETHERCAT_DEVICE_H_
-#define _ETHERCAT_DEVICE_H_
-
-#include <linux/netdevice.h>
-
-/*****************************************************************************/
-
-struct ec_device;
-typedef struct ec_device ec_device_t;
-
-/*****************************************************************************/
-
-ec_device_t *EtherCAT_dev_register(unsigned int, struct net_device *,
- irqreturn_t (*)(int, void *,
- struct pt_regs *),
- struct module *);
-void EtherCAT_dev_unregister(unsigned int, ec_device_t *);
-
-int EtherCAT_dev_is_ec(const ec_device_t *, const struct net_device *);
-void EtherCAT_dev_receive(ec_device_t *, const void *, size_t);
-void EtherCAT_dev_link_state(ec_device_t *, uint8_t);
-
-/*****************************************************************************/
-
-#endif
diff --git a/include/EtherCAT_rt.h b/include/EtherCAT_rt.h
deleted file mode 100644
index ca1da0c0..00000000
--- a/include/EtherCAT_rt.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/******************************************************************************
- *
- * Oeffentliche EtherCAT-Schnittstellen fuer Echtzeitprozesse.
- *
- * $Id$
- *
- *****************************************************************************/
-
-#ifndef _ETHERCAT_RT_H_
-#define _ETHERCAT_RT_H_
-
-/*****************************************************************************/
-
-struct ec_master;
-typedef struct ec_master ec_master_t;
-
-struct ec_domain;
-typedef struct ec_domain ec_domain_t;
-
-struct ec_slave;
-typedef struct ec_slave ec_slave_t;
-
-typedef enum
-{
- ec_sync,
- ec_async
-}
-ec_domain_mode_t;
-
-typedef enum
-{
- ec_status,
- ec_control,
- ec_ipvalue,
- ec_opvalue
-}
-ec_field_type_t;
-
-typedef struct
-{
- void **data;
- const char *address;
- const char *vendor;
- const char *product;
- ec_field_type_t field_type;
- unsigned int field_index;
- unsigned int field_count;
-}
-ec_field_init_t;
-
-/*****************************************************************************/
-// Master request functions
-
-ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
-
-void EtherCAT_rt_release_master(ec_master_t *master);
-
-/*****************************************************************************/
-// Master methods
-
-ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
- ec_domain_mode_t mode,
- unsigned int timeout_us);
-
-int EtherCAT_rt_master_activate(ec_master_t *master);
-int EtherCAT_rt_master_deactivate(ec_master_t *master);
-
-void EtherCAT_rt_master_xio(ec_master_t *master);
-
-void EtherCAT_rt_master_debug(ec_master_t *master, int level);
-void EtherCAT_rt_master_print(const ec_master_t *master);
-
-/*****************************************************************************/
-// Domain Methods
-
-ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
- const char *address,
- const char *vendor_name,
- const char *product_name,
- void **data_ptr,
- ec_field_type_t field_type,
- unsigned int field_index,
- unsigned int field_count);
-
-int EtherCAT_rt_register_domain_fields(ec_domain_t *domain,
- ec_field_init_t *fields);
-
-void EtherCAT_rt_domain_queue(ec_domain_t *domain);
-void EtherCAT_rt_domain_process(ec_domain_t *domain);
-
-/*****************************************************************************/
-// Slave Methods
-
-int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t value,
- size_t size);
-
-int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t *value);
-
-int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
- const char *addr,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t value,
- size_t size);
-
-int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
- const char *addr,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t *value);
-
-/*****************************************************************************/
-
-#endif
diff --git a/include/EtherCAT_si.h b/include/EtherCAT_si.h
deleted file mode 100644
index 744994f7..00000000
--- a/include/EtherCAT_si.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/******************************************************************************
- *
- * E t h e r C A T _ s i . h
- *
- * EtherCAT Slave-Interface.
- *
- * $Id$
- *
- *****************************************************************************/
-
-#include <asm/byteorder.h>
-
-/*****************************************************************************/
-
-// Bitwise read/write macros
-
-#define EC_READ_BIT(PD, CH) (*((uint8_t *) (PD)) >> (CH)) & 0x01)
-
-#define EC_WRITE_BIT(PD, CH, VAL) \
- do { \
- if (VAL) *((uint8_t *) (PD)) |= (1 << (CH)); \
- else *((uint8_t *) (PD)) &= ~(1 << (CH)); \
- } while (0)
-
-/*****************************************************************************/
-
-// Read macros
-
-#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))
-#define EC_READ_S8(PD) ((int8_t) *((uint8_t *) (PD)))
-
-#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))
-#define EC_READ_S16(PD) ((int16_t) le16_to_cpup((void *) (PD)))
-
-#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))
-#define EC_READ_S32(PD) ((int32_t) le32_to_cpup((void *) (PD)))
-
-/*****************************************************************************/
-
-// Write macros
-
-#define EC_WRITE_U8(PD, VAL) \
- do { \
- *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
- } while (0)
-
-#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)
-
-#define EC_WRITE_U16(PD, VAL) \
- do { \
- *((uint16_t *) (PD)) = (uint16_t) (VAL); \
- cpu_to_le16s(PD); \
- } while (0)
-
-#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
-
-#define EC_WRITE_U32(PD, VAL) \
- do { \
- *((uint32_t *) (PD)) = (uint32_t) (VAL); \
- cpu_to_le16s(PD); \
- } while (0)
-
-#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
-
-/*****************************************************************************/
-
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/
diff --git a/include/ecrt.h b/include/ecrt.h
new file mode 100644
index 00000000..110eea5a
--- /dev/null
+++ b/include/ecrt.h
@@ -0,0 +1,146 @@
+/******************************************************************************
+ *
+ * Oeffentliche EtherCAT-Schnittstellen fuer Echtzeitprozesse.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef _ETHERCAT_RT_H_
+#define _ETHERCAT_RT_H_
+
+#include <asm/byteorder.h>
+
+/*****************************************************************************/
+
+struct ec_master;
+typedef struct ec_master ec_master_t;
+
+struct ec_domain;
+typedef struct ec_domain ec_domain_t;
+
+struct ec_slave;
+typedef struct ec_slave ec_slave_t;
+
+typedef struct
+{
+ void **data_ptr;
+ const char *slave_address;
+ const char *vendor_name;
+ const char *product_name;
+ const char *field_name;
+ unsigned int field_index;
+ unsigned int field_count;
+}
+ec_field_init_t;
+
+/*****************************************************************************/
+// Master request functions
+
+ec_master_t *ecrt_request_master(unsigned int master_index);
+void ecrt_release_master(ec_master_t *master);
+
+/*****************************************************************************/
+// Master methods
+
+ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
+int ecrt_master_activate(ec_master_t *master);
+void ecrt_master_deactivate(ec_master_t *master);
+void ecrt_master_sync_io(ec_master_t *master);
+void ecrt_master_async_send(ec_master_t *master);
+void ecrt_master_async_receive(ec_master_t *master);
+void ecrt_master_debug(ec_master_t *master, int level);
+void ecrt_master_print(const ec_master_t *master);
+int ecrt_master_sdo_write(ec_master_t *master,
+ const char *slave_addr,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value,
+ size_t size);
+int ecrt_master_sdo_read(ec_master_t *master,
+ const char *slave_addr,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t *value);
+
+/*****************************************************************************/
+// Domain Methods
+
+ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
+ const char *address,
+ const char *vendor_name,
+ const char *product_name,
+ void **data_ptr,
+ const char *field_name,
+ unsigned int field_index,
+ unsigned int field_count);
+int ecrt_domain_register_field_list(ec_domain_t *domain,
+ ec_field_init_t *fields);
+void ecrt_domain_queue(ec_domain_t *domain);
+void ecrt_domain_process(ec_domain_t *domain);
+
+/*****************************************************************************/
+// Slave Methods
+
+int ecrt_slave_sdo_write(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value,
+ size_t size);
+int ecrt_slave_sdo_read(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t *value);
+
+/*****************************************************************************/
+// Bitwise read/write macros
+
+#define EC_READ_BIT(PD, CH) (*((uint8_t *) (PD)) >> (CH)) & 0x01)
+
+#define EC_WRITE_BIT(PD, CH, VAL) \
+ do { \
+ if (VAL) *((uint8_t *) (PD)) |= (1 << (CH)); \
+ else *((uint8_t *) (PD)) &= ~(1 << (CH)); \
+ } while (0)
+
+/*****************************************************************************/
+// Read macros
+
+#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))
+#define EC_READ_S8(PD) ((int8_t) *((uint8_t *) (PD)))
+
+#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))
+#define EC_READ_S16(PD) ((int16_t) le16_to_cpup((void *) (PD)))
+
+#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))
+#define EC_READ_S32(PD) ((int32_t) le32_to_cpup((void *) (PD)))
+
+/*****************************************************************************/
+// Write macros
+
+#define EC_WRITE_U8(PD, VAL) \
+ do { \
+ *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
+ } while (0)
+
+#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)
+
+#define EC_WRITE_U16(PD, VAL) \
+ do { \
+ *((uint16_t *) (PD)) = (uint16_t) (VAL); \
+ cpu_to_le16s(PD); \
+ } while (0)
+
+#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
+
+#define EC_WRITE_U32(PD, VAL) \
+ do { \
+ *((uint32_t *) (PD)) = (uint32_t) (VAL); \
+ cpu_to_le16s(PD); \
+ } while (0)
+
+#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
+
+/*****************************************************************************/
+
+#endif
diff --git a/master/canopen.c b/master/canopen.c
index f093ada8..d2a85fb6 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -12,7 +12,6 @@
#include <linux/slab.h>
#include <linux/module.h>
-#include "../include/EtherCAT_si.h"
#include "master.h"
/*****************************************************************************/
@@ -21,7 +20,7 @@
Schreibt ein CANopen-SDO (service data object).
*/
-int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
uint16_t sdo_index, /**< SDO-Index */
uint8_t sdo_subindex, /**< SDO-Subindex */
uint32_t value, /**< Neuer Wert */
@@ -114,7 +113,7 @@ int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
Liest ein CANopen-SDO (service data object).
*/
-int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
uint16_t sdo_index, /**< SDO-Index */
uint8_t sdo_subindex, /**< SDO-Subindex */
uint32_t *value /**< Speicher für gel. Wert */
@@ -198,29 +197,28 @@ int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
/**
Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
- Siehe EtherCAT_rt_canopen_sdo_write()
+ Siehe ecrt_slave_sdo_write()
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
- /**< EtherCAT-Master */
- const char *addr,
- /**< Addresse, siehe
- ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t value,
- /**< Neuer Wert */
- size_t size
- /**< Größe des Datenfeldes */
- )
+int ecrt_master_sdo_write(ec_master_t *master,
+ /**< EtherCAT-Master */
+ const char *addr,
+ /**< Addresse, siehe ec_master_slave_address() */
+ uint16_t index,
+ /**< SDO-Index */
+ uint8_t subindex,
+ /**< SDO-Subindex */
+ uint32_t value,
+ /**< Neuer Wert */
+ size_t size
+ /**< Größe des Datenfeldes */
+ )
{
ec_slave_t *slave;
if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
+ return ecrt_slave_sdo_write(slave, index, subindex, value, size);
}
/*****************************************************************************/
@@ -228,35 +226,34 @@ int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
/**
Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
- Siehe EtherCAT_rt_canopen_sdo_read()
+ Siehe ecrt_slave_sdo_read()
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
- /**< EtherCAT-Slave */
- const char *addr,
- /**< Addresse, siehe
- ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t *value
- /**< Speicher für gel. Wert */
- )
+int ecrt_master_sdo_read(ec_master_t *master,
+ /**< EtherCAT-Slave */
+ const char *addr,
+ /**< Addresse, siehe ec_master_slave_address() */
+ uint16_t index,
+ /**< SDO-Index */
+ uint8_t subindex,
+ /**< SDO-Subindex */
+ uint32_t *value
+ /**< Speicher für gel. Wert */
+ )
{
ec_slave_t *slave;
if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
+ return ecrt_slave_sdo_read(slave, index, subindex, value);
}
/*****************************************************************************/
-EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
-EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
-EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
-EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
+EXPORT_SYMBOL(ecrt_slave_sdo_write);
+EXPORT_SYMBOL(ecrt_slave_sdo_read);
+EXPORT_SYMBOL(ecrt_master_sdo_write);
+EXPORT_SYMBOL(ecrt_master_sdo_read);
/*****************************************************************************/
diff --git a/master/command.c b/master/command.c
index 60abfb0c..9a8f8d89 100644
--- a/master/command.c
+++ b/master/command.c
@@ -11,7 +11,6 @@
#include <linux/slab.h>
#include <linux/delay.h>
-#include "../include/EtherCAT_si.h"
#include "command.h"
#include "master.h"
diff --git a/master/device.c b/master/device.c
index 6e998eec..a4c9b998 100644
--- a/master/device.c
+++ b/master/device.c
@@ -255,9 +255,9 @@ void ec_data_print_diff(const uint8_t *d1, /**< Daten 1 */
\return 0 wenn nein, nicht-null wenn ja.
*/
-inline int EtherCAT_dev_is_ec(const ec_device_t *device, /**< EtherCAT-Gerät */
- const struct net_device *dev /**< Net-Device */
- )
+inline int ecdev_is_ec(const ec_device_t *device, /**< EtherCAT-Gerät */
+ const struct net_device *dev /**< Net-Device */
+ )
{
return device && device->dev == dev;
}
@@ -270,10 +270,10 @@ inline int EtherCAT_dev_is_ec(const ec_device_t *device, /**< EtherCAT-Ger
Kopiert die empfangenen Daten in den Receive-Buffer.
*/
-void EtherCAT_dev_receive(ec_device_t *device, /**< EtherCAT-Gerät */
- const void *data, /**< Zeiger auf empfangene Daten */
- size_t size /**< Größe der empfangenen Daten */
- )
+void ecdev_receive(ec_device_t *device, /**< EtherCAT-Gerät */
+ const void *data, /**< Zeiger auf empfangene Daten */
+ size_t size /**< Größe der empfangenen Daten */
+ )
{
if (unlikely(device->master->debug_level > 1)) {
EC_DBG("Received frame:\n");
@@ -289,11 +289,11 @@ void EtherCAT_dev_receive(ec_device_t *device, /**< EtherCAT-Ger
Setzt einen neuen Verbindungszustand.
*/
-void EtherCAT_dev_link_state(ec_device_t *device, /**< EtherCAT-Gerät */
- uint8_t state /**< Verbindungszustand */
- )
+void ecdev_link_state(ec_device_t *device, /**< EtherCAT-Gerät */
+ uint8_t state /**< Verbindungszustand */
+ )
{
- if (state != device->link_state) {
+ if (likely(state != device->link_state)) {
device->link_state = state;
EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN"));
}
@@ -301,9 +301,9 @@ void EtherCAT_dev_link_state(ec_device_t *device, /**< EtherCAT-Ger
/*****************************************************************************/
-EXPORT_SYMBOL(EtherCAT_dev_is_ec);
-EXPORT_SYMBOL(EtherCAT_dev_receive);
-EXPORT_SYMBOL(EtherCAT_dev_link_state);
+EXPORT_SYMBOL(ecdev_is_ec);
+EXPORT_SYMBOL(ecdev_receive);
+EXPORT_SYMBOL(ecdev_link_state);
/*****************************************************************************/
diff --git a/master/device.h b/master/device.h
index 5888b148..a7f04861 100644
--- a/master/device.h
+++ b/master/device.h
@@ -13,12 +13,10 @@
#include <linux/interrupt.h>
-#include "../include/EtherCAT_rt.h"
-#include "../include/EtherCAT_dev.h"
+#include "../include/ecrt.h"
+#include "../devices/ecdev.h"
#include "globals.h"
-typedef irqreturn_t (*ec_isr_t)(int, void *, struct pt_regs *);
-
/*****************************************************************************/
/**
diff --git a/master/domain.c b/master/domain.c
index aad5f5c7..ac73d7e2 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -21,15 +21,10 @@ void ec_domain_clear_field_regs(ec_domain_t *);
*/
void ec_domain_init(ec_domain_t *domain, /**< Domäne */
- ec_master_t *master, /**< Zugehöriger Master */
- ec_domain_mode_t mode, /**< Synchron/Asynchron */
- unsigned int timeout_us /**< Timeout in Mikrosekunden */
+ ec_master_t *master /**< Zugehöriger Master */
)
{
domain->master = master;
- domain->mode = mode;
- domain->timeout_us = timeout_us;
-
domain->data = NULL;
domain->data_size = 0;
domain->commands = NULL;
@@ -232,28 +227,27 @@ void ec_domain_response_count(ec_domain_t *domain, /**< Dom
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
-ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
- /**< Domäne */
- const char *address,
- /**< ASCII-Addresse des Slaves,
- siehe ec_master_slave_address()
- */
- const char *vendor_name,
- /**< Herstellername */
- const char *product_name,
- /**< Produktname */
- void **data_ptr,
- /**< Adresse des Zeigers auf die
- Prozessdaten */
- ec_field_type_t field_type,
- /**< Typ des Datenfeldes */
- unsigned int field_index,
- /**< Gibt an, ab welchem Feld mit
- Typ \a field_type gezählt
- werden soll. */
- unsigned int field_count
- /**< Anzahl Felder selben Typs */
- )
+ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
+ /**< Domäne */
+ const char *address,
+ /**< ASCII-Addresse des Slaves,
+ siehe ec_master_slave_address() */
+ const char *vendor_name,
+ /**< Herstellername */
+ const char *product_name,
+ /**< Produktname */
+ void **data_ptr,
+ /**< Adresse des Zeigers auf die
+ Prozessdaten */
+ const char *field_name,
+ /**< Name des Datenfeldes */
+ unsigned int field_index,
+ /**< Gibt an, ab welchem Feld mit
+ Typ \a field_type gezählt
+ werden soll. */
+ unsigned int field_count
+ /**< Anzahl Felder selben Typs */
+ )
{
ec_slave_t *slave;
const ec_slave_type_t *type;
@@ -293,7 +287,7 @@ ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
field_offset = 0;
for (j = 0; sync->fields[j]; j++) {
field = sync->fields[j];
- if (field->type == field_type) {
+ if (!strcmp(field->name, field_name)) {
if (field_idx == field_index) {
ec_domain_reg_field(domain, slave, sync, field_offset,
data_ptr++);
@@ -305,9 +299,9 @@ ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
}
}
- EC_ERR("Slave %i (\"%s %s\") registration mismatch: Type %i, index %i,"
- " count %i.\n", slave->ring_position, vendor_name, product_name,
- field_type, field_index, field_count);
+ EC_ERR("Slave %i (\"%s %s\") registration mismatch: Field \"%s\","
+ " index %i, count %i.\n", slave->ring_position, vendor_name,
+ product_name, field_name, field_index, field_count);
return NULL;
}
@@ -321,23 +315,21 @@ ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
\return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_rt_register_domain_fields(ec_domain_t *domain,
- /**< Domäne */
- ec_field_init_t *fields
- /**< Array mit Datenfeldern */
- )
+int ecrt_domain_register_field_list(ec_domain_t *domain,
+ /**< Domäne */
+ ec_field_init_t *fields
+ /**< Array mit Datenfeldern */
+ )
{
ec_field_init_t *field;
- for (field = fields; field->data; field++) {
- if (!EtherCAT_rt_register_slave_field(domain, field->address,
- field->vendor, field->product,
- field->data, field->field_type,
- field->field_index,
- field->field_count)) {
+ for (field = fields; field->data_ptr; field++)
+ if (!ecrt_domain_register_field(domain, field->slave_address,
+ field->vendor_name,
+ field->product_name, field->data_ptr,
+ field->field_name, field->field_index,
+ field->field_count))
return -1;
- }
- }
return 0;
}
@@ -348,7 +340,7 @@ int EtherCAT_rt_register_domain_fields(ec_domain_t *domain,
Setzt Prozessdaten-Kommandos in die Warteschlange des Masters.
*/
-void EtherCAT_rt_domain_queue(ec_domain_t *domain /**< Domäne */)
+void ecrt_domain_queue(ec_domain_t *domain /**< Domäne */)
{
unsigned int i;
size_t size;
@@ -372,7 +364,7 @@ void EtherCAT_rt_domain_queue(ec_domain_t *domain /**< Dom
Verarbeitet empfangene Prozessdaten.
*/
-void EtherCAT_rt_domain_process(ec_domain_t *domain /**< Domäne */)
+void ecrt_domain_process(ec_domain_t *domain /**< Domäne */)
{
unsigned int working_counter_sum, i;
ec_command_t *command;
@@ -402,10 +394,10 @@ void EtherCAT_rt_domain_process(ec_domain_t *domain /**< Dom
/*****************************************************************************/
-EXPORT_SYMBOL(EtherCAT_rt_register_slave_field);
-EXPORT_SYMBOL(EtherCAT_rt_register_domain_fields);
-EXPORT_SYMBOL(EtherCAT_rt_domain_queue);
-EXPORT_SYMBOL(EtherCAT_rt_domain_process);
+EXPORT_SYMBOL(ecrt_domain_register_field);
+EXPORT_SYMBOL(ecrt_domain_register_field_list);
+EXPORT_SYMBOL(ecrt_domain_queue);
+EXPORT_SYMBOL(ecrt_domain_process);
/*****************************************************************************/
diff --git a/master/domain.h b/master/domain.h
index bbd318f5..958936c4 100644
--- a/master/domain.h
+++ b/master/domain.h
@@ -50,8 +50,6 @@ struct ec_domain
size_t data_size; /**< Größe der Prozessdaten */
ec_command_t *commands; /**< EtherCAT-Kommandos für die Prozessdaten */
unsigned int command_count; /**< Anzahl allozierter Kommandos */
- ec_domain_mode_t mode;
- unsigned int timeout_us; /**< Timeout in Mikrosekunden. */
uint32_t base_address; /**< Logische Basisaddresse der Domain */
unsigned int response_count; /**< Anzahl antwortender Slaves */
struct list_head field_regs; /**< Liste der Datenfeldregistrierungen */
@@ -59,10 +57,8 @@ struct ec_domain
/*****************************************************************************/
-void ec_domain_init(ec_domain_t *, ec_master_t *, ec_domain_mode_t,
- unsigned int);
+void ec_domain_init(ec_domain_t *, ec_master_t *);
void ec_domain_clear(ec_domain_t *);
-
int ec_domain_alloc(ec_domain_t *, uint32_t);
/*****************************************************************************/
diff --git a/master/master.c b/master/master.c
index c79a5f9f..4212f59f 100644
--- a/master/master.c
+++ b/master/master.c
@@ -14,8 +14,7 @@
#include <linux/slab.h>
#include <linux/delay.h>
-#include "../include/EtherCAT_rt.h"
-#include "../include/EtherCAT_si.h"
+#include "../include/ecrt.h"
#include "globals.h"
#include "master.h"
#include "slave.h"
@@ -372,24 +371,27 @@ int ec_master_simple_io(ec_master_t *master, /**< EtherCAT-Master */
do
{
ec_master_queue_command(master, command);
- EtherCAT_rt_master_xio(master);
+ ecrt_master_sync_io(master);
if (command->state == EC_CMD_RECEIVED) {
break;
}
else if (command->state == EC_CMD_TIMEOUT) {
- EC_ERR("Simple IO TIMED OUT!\n");
+ EC_ERR("Simple-IO TIMEOUT!\n");
return -1;
}
else if (command->state == EC_CMD_ERROR) {
- EC_ERR("Simple IO command error!\n");
+ EC_ERR("Simple-IO command error!\n");
return -1;
}
+
+ // Keine direkte Antwort. Dem Slave Zeit lassen...
+ udelay(10);
}
while (unlikely(!command->working_counter && --response_tries_left));
if (unlikely(!response_tries_left)) {
- EC_ERR("No response in simple IO!\n");
+ EC_ERR("No response in simple-IO!\n");
return -1;
}
@@ -653,18 +655,12 @@ void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< Sync-Manager */
*****************************************************************************/
/**
- Registriert eine neue Domäne.
+ Erstellt eine neue Domäne.
\return Zeiger auf die Domäne bei Erfolg, sonst NULL.
*/
-ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
- /**< Domäne */
- ec_domain_mode_t mode,
- /**< Modus */
- unsigned int timeout_us
- /**< Timeout */
- )
+ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< Master */)
{
ec_domain_t *domain;
@@ -673,8 +669,7 @@ ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
return NULL;
}
- ec_domain_init(domain, master, mode, timeout_us);
-
+ ec_domain_init(domain, master);
list_add_tail(&domain->list, &master->domains);
return domain;
@@ -692,7 +687,7 @@ ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
\return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
+int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
{
unsigned int i, j;
ec_slave_t *slave;
@@ -817,11 +812,9 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
/**
Setzt alle Slaves zurück in den Init-Zustand.
-
- \return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_rt_master_deactivate(ec_master_t *master /**< EtherCAT-Master */)
+void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT-Master */)
{
ec_slave_t *slave;
unsigned int i;
@@ -829,26 +822,18 @@ int EtherCAT_rt_master_deactivate(ec_master_t *master /**< EtherCAT-Master */)
for (i = 0; i < master->slave_count; i++)
{
slave = master->slaves + i;
-
- // CRC-Zählerstände ausgeben
ec_slave_check_crc(slave);
-
- if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT) != 0))
- return -1;
+ ec_slave_state_change(slave, EC_SLAVE_STATE_INIT);
}
-
- return 0;
}
/*****************************************************************************/
/**
- Sendet und empfängt Kommandos.
-
- \return 0 bei Erfolg, sonst < 0
+ Sendet und empfängt Kommandos synchron.
*/
-void EtherCAT_rt_master_xio(ec_master_t *master)
+void ecrt_master_sync_io(ec_master_t *master)
{
ec_command_t *command, *next;
unsigned int commands_sent;
@@ -911,6 +896,69 @@ void EtherCAT_rt_master_xio(ec_master_t *master)
/*****************************************************************************/
+/**
+ Sendet Kommandos asynchron.
+*/
+
+void ecrt_master_async_send(ec_master_t *master)
+{
+ ec_command_t *command, *next;
+
+ ec_master_output_stats(master);
+
+ if (unlikely(!master->device->link_state)) {
+ // Link DOWN, keines der Kommandos kann gesendet werden.
+ list_for_each_entry_safe(command, next, &master->commands, list) {
+ command->state = EC_CMD_ERROR;
+ list_del_init(&command->list);
+ }
+
+ // Device-Zustand abfragen
+ ec_device_call_isr(master->device);
+ return;
+ }
+
+ // Rahmen senden
+ ec_master_send_commands(master);
+}
+
+/*****************************************************************************/
+
+/**
+ Empfängt Kommandos asynchron.
+*/
+
+void ecrt_master_async_receive(ec_master_t *master)
+{
+ ec_command_t *command, *next;
+
+ ec_master_output_stats(master);
+
+ ec_device_call_isr(master->device);
+
+ // Alle empfangenen Kommandos aus der Liste entfernen
+ list_for_each_entry_safe(command, next, &master->commands, list)
+ if (command->state == EC_CMD_RECEIVED)
+ list_del_init(&command->list);
+
+ // Alle verbleibenden Kommandos entfernen.
+ list_for_each_entry_safe(command, next, &master->commands, list) {
+ switch (command->state) {
+ case EC_CMD_SENT:
+ case EC_CMD_QUEUED:
+ command->state = EC_CMD_TIMEOUT;
+ master->stats.timeouts++;
+ ec_master_output_stats(master);
+ break;
+ default:
+ break;
+ }
+ list_del_init(&command->list);
+ }
+}
+
+/*****************************************************************************/
+
/**
Setzt die Debug-Ebene des Masters.
@@ -920,11 +968,9 @@ void EtherCAT_rt_master_xio(ec_master_t *master)
- 2: Komplette Frame-Inhalte
*/
-void EtherCAT_rt_master_debug(ec_master_t *master,
- /**< EtherCAT-Master */
- int level
- /**< Debug-Level */
- )
+void ecrt_master_debug(ec_master_t *master, /**< EtherCAT-Master */
+ int level /**< Debug-Level */
+ )
{
if (level != master->debug_level) {
master->debug_level = level;
@@ -938,9 +984,7 @@ void EtherCAT_rt_master_debug(ec_master_t *master,
Gibt alle Informationen zum Master aus.
*/
-void EtherCAT_rt_master_print(const ec_master_t *master
- /**< EtherCAT-Master */
- )
+void ecrt_master_print(const ec_master_t *master /**< EtherCAT-Master */)
{
unsigned int i;
@@ -952,12 +996,14 @@ void EtherCAT_rt_master_print(const ec_master_t *master
/*****************************************************************************/
-EXPORT_SYMBOL(EtherCAT_rt_master_register_domain);
-EXPORT_SYMBOL(EtherCAT_rt_master_activate);
-EXPORT_SYMBOL(EtherCAT_rt_master_deactivate);
-EXPORT_SYMBOL(EtherCAT_rt_master_xio);
-EXPORT_SYMBOL(EtherCAT_rt_master_debug);
-EXPORT_SYMBOL(EtherCAT_rt_master_print);
+EXPORT_SYMBOL(ecrt_master_create_domain);
+EXPORT_SYMBOL(ecrt_master_activate);
+EXPORT_SYMBOL(ecrt_master_deactivate);
+EXPORT_SYMBOL(ecrt_master_sync_io);
+EXPORT_SYMBOL(ecrt_master_async_send);
+EXPORT_SYMBOL(ecrt_master_async_receive);
+EXPORT_SYMBOL(ecrt_master_debug);
+EXPORT_SYMBOL(ecrt_master_print);
/*****************************************************************************/
diff --git a/master/module.c b/master/module.c
index d1883e0e..1df08aee 100644
--- a/master/module.c
+++ b/master/module.c
@@ -145,16 +145,15 @@ void __exit ec_cleanup_module(void)
oder das Geraet nicht geöffnet werden konnte.
*/
-ec_device_t *EtherCAT_dev_register(unsigned int master_index,
- /**< Index des EtherCAT-Masters */
- struct net_device *net_dev,
- /**< net_device des EtherCAT-Gerätes */
- irqreturn_t (*isr)(int, void *,
- struct pt_regs *),
- /**< Interrupt-Service-Routine */
- struct module *module
- /**< Zeiger auf das Modul */
- )
+ec_device_t *ecdev_register(unsigned int master_index,
+ /**< Index des EtherCAT-Masters */
+ struct net_device *net_dev,
+ /**< net_device des EtherCAT-Gerätes */
+ ec_isr_t isr,
+ /**< Interrupt-Service-Routine */
+ struct module *module
+ /**< Zeiger auf das Modul */
+ )
{
ec_master_t *master;
@@ -193,11 +192,11 @@ ec_device_t *EtherCAT_dev_register(unsigned int master_index,
Hebt die Registrierung eines EtherCAT-Gerätes auf.
*/
-void EtherCAT_dev_unregister(unsigned int master_index,
- /**< Index des EtherCAT-Masters */
- ec_device_t *device
- /**< EtherCAT-Geraet */
- )
+void ecdev_unregister(unsigned int master_index,
+ /**< Index des EtherCAT-Masters */
+ ec_device_t *device
+ /**< EtherCAT-Geraet */
+ )
{
ec_master_t *master;
@@ -232,9 +231,9 @@ void EtherCAT_dev_unregister(unsigned int master_index,
\return Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
*/
-ec_master_t *EtherCAT_rt_request_master(unsigned int index
- /**< EtherCAT-Master-Index */
- )
+ec_master_t *ecrt_request_master(unsigned int index
+ /**< EtherCAT-Master-Index */
+ )
{
ec_master_t *master;
@@ -297,7 +296,7 @@ ec_master_t *EtherCAT_rt_request_master(unsigned int index
Gibt einen zuvor angeforderten EtherCAT-Master wieder frei.
*/
-void EtherCAT_rt_release_master(ec_master_t *master /**< EtherCAT-Masdter */)
+void ecrt_release_master(ec_master_t *master /**< EtherCAT-Masdter */)
{
unsigned int i, found;
@@ -331,10 +330,10 @@ void EtherCAT_rt_release_master(ec_master_t *master /**< EtherCAT-Masdter */)
module_init(ec_init_module);
module_exit(ec_cleanup_module);
-EXPORT_SYMBOL(EtherCAT_dev_register);
-EXPORT_SYMBOL(EtherCAT_dev_unregister);
-EXPORT_SYMBOL(EtherCAT_rt_request_master);
-EXPORT_SYMBOL(EtherCAT_rt_release_master);
+EXPORT_SYMBOL(ecdev_register);
+EXPORT_SYMBOL(ecdev_unregister);
+EXPORT_SYMBOL(ecrt_request_master);
+EXPORT_SYMBOL(ecrt_release_master);
/*****************************************************************************/
diff --git a/master/slave.c b/master/slave.c
index 326d349d..98d95457 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -11,7 +11,6 @@
#include <linux/module.h>
#include <linux/delay.h>
-#include "../include/EtherCAT_si.h"
#include "globals.h"
#include "slave.h"
#include "command.h"
diff --git a/master/types.c b/master/types.c
index 20264924..d2731f26 100644
--- a/master/types.c
+++ b/master/types.c
@@ -38,7 +38,7 @@ const ec_slave_type_t Beckhoff_EK1110 = {
/*****************************************************************************/
-const ec_field_t el1014_in = {ec_ipvalue, 1};
+const ec_field_t el1014_in = {"InputValue", 1};
const ec_sync_t el1014_sm0 = { // Inputs
0x1000, 1, 0x00,
@@ -52,7 +52,7 @@ const ec_slave_type_t Beckhoff_EL1014 = {
/*****************************************************************************/
-const ec_field_t el20XX_out = {ec_opvalue, 1};
+const ec_field_t el20XX_out = {"OutputValue", 1};
const ec_sync_t el20XX_sm0 = {
0x0F00, 1, 0x46,
@@ -71,10 +71,10 @@ const ec_slave_type_t Beckhoff_EL2032 = {
/*****************************************************************************/
-const ec_field_t el31X2_st1 = {ec_status, 1};
-const ec_field_t el31X2_ip1 = {ec_ipvalue, 2};
-const ec_field_t el31X2_st2 = {ec_status, 1};
-const ec_field_t el31X2_ip2 = {ec_ipvalue, 2};
+const ec_field_t el31X2_st1 = {"Status", 1};
+const ec_field_t el31X2_ip1 = {"InputValue", 2};
+const ec_field_t el31X2_st2 = {"Status", 1};
+const ec_field_t el31X2_ip2 = {"InputValue", 2};
const ec_sync_t el31X2_sm2 = {
0x1000, 4, 0x24,
@@ -98,7 +98,7 @@ const ec_slave_type_t Beckhoff_EL3162 = {
/*****************************************************************************/
-const ec_field_t el41X2_op = {ec_opvalue, 2};
+const ec_field_t el41X2_op = {"OutputValue", 2};
const ec_sync_t el41X2_sm2 = {
0x1000, 4, 0x24,
@@ -117,8 +117,8 @@ const ec_slave_type_t Beckhoff_EL4132 = {
/*****************************************************************************/
-const ec_field_t el5001_st = {ec_status, 1};
-const ec_field_t el5001_ip = {ec_ipvalue, 4};
+const ec_field_t el5001_st = {"Status", 1};
+const ec_field_t el5001_ip = {"InputValue", 4};
const ec_sync_t el5001_sm2 = {
0x1000, 4, 0x24,
@@ -137,11 +137,11 @@ const ec_slave_type_t Beckhoff_EL5001 = {
/*****************************************************************************/
-const ec_field_t el5101_ct = {ec_control, 1};
-const ec_field_t el5101_op = {ec_opvalue, 2};
-const ec_field_t el5101_st = {ec_status, 1};
-const ec_field_t el5101_ip = {ec_ipvalue, 2};
-const ec_field_t el5101_la = {ec_ipvalue, 2};
+const ec_field_t el5101_ct = {"Control", 1};
+const ec_field_t el5101_op = {"OutputValue", 2};
+const ec_field_t el5101_st = {"Status", 1};
+const ec_field_t el5101_ip = {"InputValue", 2};
+const ec_field_t el5101_la = {"LatchValue", 2};
const ec_sync_t el5101_sm2 = {
0x1000, 3, 0x24,
diff --git a/master/types.h b/master/types.h
index f6d9f9bf..0b2b9639 100644
--- a/master/types.h
+++ b/master/types.h
@@ -13,7 +13,7 @@
#include <linux/types.h>
-#include "../include/EtherCAT_rt.h"
+#include "../include/ecrt.h"
/*****************************************************************************/
@@ -28,8 +28,8 @@
typedef struct
{
- ec_field_type_t type;
- unsigned int size;
+ const char *name;
+ size_t size;
}
ec_field_t;
diff --git a/mini/mini.c b/mini/mini.c
index c03acbc0..71fdee6e 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -12,8 +12,9 @@
#include <linux/delay.h>
#include <linux/timer.h>
-#include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle
-#include "../include/EtherCAT_si.h" // Slave-Interface-Makros
+#include "../include/ecrt.h" // Echtzeitschnittstelle
+
+//#define ASYNC
/*****************************************************************************/
@@ -29,14 +30,12 @@ ec_domain_t *domain1 = NULL;
// Datenfelder
void *r_ssi;
-void *r_inc;
// Kanäle
-uint32_t k_angle, k_pos;
+uint32_t k_pos;
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
- {&r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
+ {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{}
};
@@ -46,20 +45,32 @@ void run(unsigned long data)
{
static unsigned int counter = 0;
- // Prozessdaten lesen und schreiben
- EtherCAT_rt_domain_queue(domain1);
- EtherCAT_rt_master_xio(master);
- EtherCAT_rt_domain_process(domain1);
+#ifdef ASYNC
+ // Prozessdaten emfpangen
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+
+ // Prozessdaten verarbeiten
+ k_pos = EC_READ_U32(r_ssi);
+
+ // Prozessdaten senden
+ ecrt_domain_queue(domain1);
+ ecrt_master_async_send(master);
+#else
+ // Prozessdaten senden und emfpangen
+ ecrt_domain_queue(domain1);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
- k_angle = EC_READ_U16(r_inc);
+ // Prozessdaten verarbeiten
k_pos = EC_READ_U32(r_ssi);
+#endif
if (counter) {
counter--;
}
else {
counter = ABTASTFREQUENZ;
- printk(KERN_INFO "k_angle = %i\n", k_angle);
printk(KERN_INFO "k_pos = %i\n", k_pos);
}
@@ -72,20 +83,18 @@ void run(unsigned long data)
int __init init_mini_module(void)
{
- const ec_field_init_t *field;
-
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
- if ((master = EtherCAT_rt_request_master(0)) == NULL) {
+ if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
goto out_return;
}
- EtherCAT_rt_master_print(master);
+ //ecrt_master_print(master);
printk(KERN_INFO "Registering domain...\n");
- if (!(domain1 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
+ if (!(domain1 = ecrt_master_create_domain(master)))
{
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
goto out_release_master;
@@ -93,28 +102,24 @@ int __init init_mini_module(void)
printk(KERN_INFO "Registering domain fields...\n");
- for (field = domain1_fields; field->data; field++)
- {
- if (!EtherCAT_rt_register_slave_field(domain1,
- field->address,
- field->vendor,
- field->product,
- field->data,
- field->field_type,
- field->field_index,
- field->field_count)) {
- printk(KERN_ERR "EtherCAT: Could not register field!\n");
- goto out_release_master;
- }
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "EtherCAT: Could not register field!\n");
+ goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
- if (EtherCAT_rt_master_activate(master)) {
+ if (ecrt_master_activate(master)) {
printk(KERN_ERR "EtherCAT: Could not activate master!\n");
goto out_release_master;
}
+#ifdef ASYNC
+ ecrt_domain_queue(domain1);
+ ecrt_master_async_send(master);
+ udelay(100);
+#endif
+
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
@@ -127,7 +132,7 @@ int __init init_mini_module(void)
return 0;
out_release_master:
- EtherCAT_rt_release_master(master);
+ ecrt_release_master(master);
out_return:
return -1;
@@ -145,8 +150,8 @@ void __exit cleanup_mini_module(void)
printk(KERN_INFO "Deactivating master...\n");
- EtherCAT_rt_master_deactivate(master);
- EtherCAT_rt_release_master(master);
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
}
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
diff --git a/rt/msr_module.c b/rt/msr_module.c
index a03ded14..3872f224 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -23,6 +23,7 @@
#include <linux/ipipe.h>
#include <linux/slab.h>
#include <linux/vmalloc.h>
+#include <linux/delay.h>
// RT_lib
#include <msr_main.h>
@@ -34,8 +35,9 @@
#include "msr_param.h"
// EtherCAT
-#include "../include/EtherCAT_rt.h"
-#include "../include/EtherCAT_si.h"
+#include "../include/ecrt.h"
+
+//#define ASYNC
// Defines/Makros
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -59,14 +61,17 @@ void *r_inc;
uint32_t k_angle;
uint32_t k_pos;
+uint32_t k_preio;
+uint32_t k_postio;
+uint32_t k_finished;
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
+ {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{}
};
ec_field_init_t domain2_fields[] = {
- {&r_ssi2, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
+ {&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{}
};
@@ -74,27 +79,48 @@ ec_field_init_t domain2_fields[] = {
static void msr_controller_run(void)
{
+ cycles_t offset;
static unsigned int counter = 0;
+ offset = get_cycles();
+
if (counter) counter--;
else {
//EtherCAT_rt_master_debug(master, 2);
counter = MSR_ABTASTFREQUENZ;
}
- // Prozessdaten lesen und schreiben
- EtherCAT_rt_domain_queue(domain1);
- EtherCAT_rt_domain_queue(domain2);
+ k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
- EtherCAT_rt_master_xio(master);
+#ifdef ASYNC
+ // Empfangen
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+ ecrt_domain_process(domain2);
- EtherCAT_rt_domain_process(domain1);
- EtherCAT_rt_domain_process(domain2);
+ // Prozessdaten verarbeiten
+ k_pos = EC_READ_U32(r_ssi);
- //k_angle = EC_READ_U16(r_inc);
+ // Senden
+ ecrt_domain_queue(domain1);
+ ecrt_domain_queue(domain2);
+ ecrt_master_async_send(master);
+#else
+ // Senden und empfangen
+ ecrt_domain_queue(domain1);
+ ecrt_domain_queue(domain2);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+ ecrt_domain_process(domain2);
+
+ // Prozessdaten verarbeiten
k_pos = EC_READ_U32(r_ssi);
+#endif
+
+ k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
- //EtherCAT_rt_master_debug(master, 0);
+ //ecrt_master_debug(master, 0);
+ k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
}
/*****************************************************************************/
@@ -104,6 +130,10 @@ int msr_globals_register(void)
msr_reg_kanal("/angle0", "", &k_angle, TUINT);
msr_reg_kanal("/pos0", "", &k_pos, TUINT);
+ msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT);
+ msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT);
+ msr_reg_kanal("/Timing/Finished", "ns", &k_finished, TUINT);
+
return 0;
}
@@ -148,59 +178,63 @@ int __init init_rt_module(void)
goto out_return;
}
- if ((master = EtherCAT_rt_request_master(0)) == NULL) {
+ if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
goto out_msr_cleanup;
}
- //EtherCAT_rt_master_print(master);
+ //ecrt_master_print(master);
printk(KERN_INFO "Registering domains...\n");
- if (!(domain1 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
- {
+ if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
goto out_release_master;
}
- if (!(domain2 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
- {
+ if (!(domain2 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
goto out_release_master;
}
printk(KERN_INFO "Registering domain fields...\n");
- if (EtherCAT_rt_register_domain_fields(domain1, domain1_fields)) {
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
printk(KERN_ERR "Failed to register domain fields.\n");
goto out_release_master;
}
- if (EtherCAT_rt_register_domain_fields(domain2, domain2_fields)) {
+ if (ecrt_domain_register_field_list(domain2, domain2_fields)) {
printk(KERN_ERR "Failed to register domain fields.\n");
goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
- //EtherCAT_rt_master_debug(master, 2);
+ //ecrt_master_debug(master, 2);
- if (EtherCAT_rt_master_activate(master)) {
+ if (ecrt_master_activate(master)) {
printk(KERN_ERR "Could not activate master!\n");
goto out_release_master;
}
- //EtherCAT_rt_master_debug(master, 0);
+ //ecrt_master_debug(master, 0);
#if 1
- if (EtherCAT_rt_canopen_sdo_addr_read(master, "6", 0x100A, 1,
- &version)) {
+ if (ecrt_master_sdo_read(master, "6", 0x100A, 1, &version)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_release_master;
}
printk(KERN_INFO "Software-version: %u\n", version);
#endif
+#ifdef ASYNC
+ ecrt_domain_queue(domain1);
+ ecrt_domain_queue(domain2);
+ ecrt_master_async_send(master);
+ udelay(100);
+#endif
+
ipipe_init_attr(&attr);
attr.name = "IPIPE-MSR-MODULE";
attr.priority = IPIPE_ROOT_PRIO + 1;
@@ -210,7 +244,7 @@ int __init init_rt_module(void)
return 0;
out_release_master:
- EtherCAT_rt_release_master(master);
+ ecrt_release_master(master);
out_msr_cleanup:
msr_rtlib_cleanup();
@@ -233,12 +267,8 @@ void __exit cleanup_rt_module(void)
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
printk(KERN_INFO "Deactivating master...\n");
-
- if (EtherCAT_rt_master_deactivate(master) < 0) {
- printk(KERN_WARNING "Warning - Could not deactivate master!\n");
- }
-
- EtherCAT_rt_release_master(master);
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
}
--
GitLab