master.h File Reference

EtherCAT master structure. More...

Go to the source code of this file.

Data Structures

struct ec_stats_t

Cyclic statistics. More...

struct ec_device_stats_t

Device statistics. More...

struct ec_master

EtherCAT master. More...

Defines

#define EC_MASTER_INFO(master, fmt, args...)   printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific information to syslog.

#define EC_MASTER_ERR(master, fmt, args...)   printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific errors to syslog.

#define EC_MASTER_WARN(master, fmt, args...)   printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific warnings to syslog.

#define EC_MASTER_DBG(master, level, fmt, args...)

Convenience macro for printing master-specific debug messages to syslog.

#define EC_EXT_RING_SIZE   32

Size of the external datagram ring.

#define ec_master_num_devices(MASTER)   1

Number of Ethernet devices.

Enumerations

enum ec_master_phase_t { EC_ORPHANED, EC_IDLE, EC_OPERATION }

EtherCAT master phase. More...

Functions

void ec_master_init_static (void)

Static variables initializer.

int ec_master_init (ec_master_t *, unsigned int, const uint8_t *, const uint8_t *, dev_t, struct class *, unsigned int)

Master constructor.

void ec_master_clear (ec_master_t *)

Destructor.

int ec_master_enter_idle_phase (ec_master_t *)

Transition function from ORPHANED to IDLE phase.

void ec_master_leave_idle_phase (ec_master_t *)

Transition function from IDLE to ORPHANED phase.

int ec_master_enter_operation_phase (ec_master_t *)

Transition function from IDLE to OPERATION phase.

void ec_master_leave_operation_phase (ec_master_t *)

Transition function from OPERATION to IDLE phase.

void ec_master_eoe_start (ec_master_t *)

Starts Ethernet over EtherCAT processing on demand.

void ec_master_eoe_stop (ec_master_t *)

Stops the Ethernet over EtherCAT processing.

void ec_master_receive_datagrams (ec_master_t *, ec_device_t *, const uint8_t *, size_t)

Processes a received frame.

void ec_master_queue_datagram (ec_master_t *, ec_datagram_t *)

Places a datagram in the datagram queue.

void ec_master_queue_datagram_ext (ec_master_t *, ec_datagram_t *)

Places a datagram in the non-application datagram queue.

void ec_master_set_send_interval (ec_master_t *, unsigned int)

Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.

void ec_master_attach_slave_configs (ec_master_t *)

Attaches the slave configurations to the slaves.

ec_slave_t * ec_master_find_slave (ec_master_t *, uint16_t, uint16_t)

Finds a slave in the bus, given the alias and position.

const ec_slave_t * ec_master_find_slave_const (const ec_master_t *, uint16_t, uint16_t)

Finds a slave in the bus, given the alias and position.

void ec_master_output_stats (ec_master_t *)

Output master statistics.

void ec_master_clear_eoe_handlers (ec_master_t *)

Clear and free all EoE handlers.

void ec_master_clear_slaves (ec_master_t *)

Clear all slaves.

unsigned int ec_master_config_count (const ec_master_t *)

Get the number of slave configurations provided by the application.

ec_slave_config_t * ec_master_get_config (const ec_master_t *, unsigned int)

Get a slave configuration via its position in the list.

const ec_slave_config_t * ec_master_get_config_const (const ec_master_t *, unsigned int)

Get a slave configuration via its position in the list.

unsigned int ec_master_domain_count (const ec_master_t *)

Get the number of domains.

ec_domain_t * ec_master_find_domain (ec_master_t *, unsigned int)

Get a domain via its position in the list.

const ec_domain_t * ec_master_find_domain_const (const ec_master_t *, unsigned int)

Get a domain via its position in the list.

uint16_t ec_master_eoe_handler_count (const ec_master_t *)

Get the number of EoE handlers.

const ec_eoe_t * ec_master_get_eoe_handler_const (const ec_master_t *, uint16_t)

Get an EoE handler via its position in the list.

int ec_master_debug_level (ec_master_t *, unsigned int)

Set the debug level.

ec_domain_t * ecrt_master_create_domain_err (ec_master_t *)

Same as ecrt_master_create_domain(), but with ERR_PTR() return value.

ec_slave_config_t * ecrt_master_slave_config_err (ec_master_t *, uint16_t, uint16_t, uint32_t, uint32_t)

Same as ecrt_master_slave_config(), but with ERR_PTR() return value.

void ec_master_calc_dc (ec_master_t *)

Distributed-clocks calculations.

void ec_master_request_op (ec_master_t *)

Request OP state for configured slaves.

void ec_master_internal_send_cb (void *)

Internal sending callback.

void ec_master_internal_receive_cb (void *)

Internal receiving callback.

Variables

const unsigned int rate_intervals [EC_RATE_COUNT]

List of intervals for statistics [s].

Detailed Description

EtherCAT master structure.

Definition in file master.h.

Define Documentation

#define EC_MASTER_INFO	(	master,
		fmt,
		args...	)	printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters:

	master	EtherCAT master
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 73 of file master.h.

#define EC_MASTER_ERR	(	master,
		fmt,
		args...	)	printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters:

	master	EtherCAT master
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 85 of file master.h.

#define EC_MASTER_WARN	(	master,
		fmt,
		args...	)	printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters:

	master	EtherCAT master
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 97 of file master.h.

#define EC_MASTER_DBG	(	master,
		level,
		fmt,
		args...	)

Value:

do { \
        if (master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
                    master->index, ##args); \
        } \
    } while (0)

Convenience macro for printing master-specific debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters:

	master	EtherCAT master
	level	Debug level. Master's debug level must be >= level for output.
	fmt	format string (like in printf())
	args	arguments (optional)

Definition at line 111 of file master.h.

#define EC_EXT_RING_SIZE 32

Size of the external datagram ring.

The external datagram ring is used for slave FSMs.

Definition at line 124 of file master.h.

Enumeration Type Documentation

enum ec_master_phase_t

EtherCAT master phase.

Enumerator:

EC_ORPHANED	Orphaned phase. The master has no Ethernet device attached.
EC_IDLE	Idle phase. An Ethernet device is attached, but the master is not in use, yet.
EC_OPERATION	Operation phase. The master was requested by a realtime application.

Definition at line 130 of file master.h.

Function Documentation

int ec_master_init	(	ec_master_t *	master,
		unsigned int	index,
		const uint8_t *	main_mac,
		const uint8_t *	backup_mac,
		dev_t	device_number,
		struct class *	class,
		unsigned int	debug_level
	)

Master constructor.

Returns:: 0 in case of success, else < 0

Parameters:

master	EtherCAT master
index	master index
main_mac	MAC address of main device
backup_mac	MAC address of backup device
device_number	Character device number.
class	Device class.
debug_level	Debug level (module parameter).

Definition at line 133 of file master.c.

int ec_master_enter_idle_phase ( ec_master_t * master )

Transition function from ORPHANED to IDLE phase.

Returns:: Zero on success, otherwise a negative error code.

Parameters:

master

EtherCAT master

Definition at line 625 of file master.c.

int ec_master_enter_operation_phase ( ec_master_t * master )

Transition function from IDLE to OPERATION phase.

Returns:: Zero on success, otherwise a negative error code.

Parameters:

master

EtherCAT master

Definition at line 682 of file master.c.

void ec_master_receive_datagrams	(	ec_master_t *	master,
		ec_device_t *	device,
		const uint8_t *	frame_data,
		size_t	size
	)

Processes a received frame.

This function is called by the network driver for every received frame.

Returns:: 0 in case of success, else < 0

Parameters:

master	EtherCAT master
device	EtherCAT device
frame_data	frame data
size	size of the received data

Definition at line 1121 of file master.c.

ec_slave_t* ec_master_find_slave	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Returns:: Search result, or NULL.

Parameters:

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1815 of file master.c.

const ec_slave_t* ec_master_find_slave_const	(	const ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position
	)

Finds a slave in the bus, given the alias and position.

Const version.

Returns:: Search result, or NULL.

Parameters:

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1831 of file master.c.

void ec_master_output_stats ( ec_master_t * master )

Output master statistics.

This function outputs statistical data on demand, but not more often than necessary. The output happens at most once a second.

Parameters:

master

EtherCAT master

Definition at line 1259 of file master.c.

unsigned int ec_master_config_count ( const ec_master_t * master )

Get the number of slave configurations provided by the application.

Returns:: Number of configurations.

Parameters:

master

EtherCAT master.

Definition at line 1847 of file master.c.

ec_slave_config_t* ec_master_get_config	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Returns:: Slave configuration or NULL.

Parameters:

master	EtherCAT master.
pos	List position.

Definition at line 1880 of file master.c.

const ec_slave_config_t* ec_master_get_config_const	(	const ec_master_t *	master,
		unsigned int	pos
	)

Get a slave configuration via its position in the list.

Const version.

Returns:: Slave configuration or NULL.

Parameters:

master	EtherCAT master.
pos	List position.

Definition at line 1895 of file master.c.

unsigned int ec_master_domain_count ( const ec_master_t * master )

Get the number of domains.

Returns:: Number of domains.

Parameters:

master

EtherCAT master.

Definition at line 1910 of file master.c.

ec_domain_t* ec_master_find_domain	(	ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Returns:: Domain pointer, or NULL if not found.

Parameters:

master	EtherCAT master.
index	Domain index.

Definition at line 1944 of file master.c.

const ec_domain_t* ec_master_find_domain_const	(	const ec_master_t *	master,
		unsigned int	index
	)

Get a domain via its position in the list.

Const version.

Returns:: Domain pointer, or NULL if not found.

Parameters:

master	EtherCAT master.
index	Domain index.

Definition at line 1959 of file master.c.

uint16_t ec_master_eoe_handler_count ( const ec_master_t * master )

Get the number of EoE handlers.

Returns:: Number of EoE handlers.

Parameters:

master

EtherCAT master.

Definition at line 1976 of file master.c.

const ec_eoe_t* ec_master_get_eoe_handler_const	(	const ec_master_t *	master,
		uint16_t	index
	)

Get an EoE handler via its position in the list.

Const version.

Returns:: EoE handler pointer, or NULL if not found.

Parameters:

master	EtherCAT master.
index	EoE handler index.

Definition at line 1998 of file master.c.

int ec_master_debug_level	(	ec_master_t *	master,
		unsigned int	level
	)

Set the debug level.

Return values:

	0	Success.
	-EINVAL	Invalid debug level.

Parameters:

master	EtherCAT master.
level	Debug level. May be 0, 1 or 2.

Definition at line 2023 of file master.c.

ec_domain_t* ecrt_master_create_domain_err ( ec_master_t * master )

Same as ecrt_master_create_domain(), but with ERR_PTR() return value.

Returns:: New domain, or ERR_PTR() return value.

Parameters:

master

master

Definition at line 2241 of file master.c.


Data Structures
struct	ec_stats_t
	Cyclic statistics. More...
struct	ec_device_stats_t
	Device statistics. More...
struct	ec_master
	EtherCAT master. More...
Defines
#define	EC_MASTER_INFO(master, fmt, args...) printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
	Convenience macro for printing master-specific information to syslog.
#define	EC_MASTER_ERR(master, fmt, args...) printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
	Convenience macro for printing master-specific errors to syslog.
#define	EC_MASTER_WARN(master, fmt, args...) printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
	Convenience macro for printing master-specific warnings to syslog.
#define	EC_MASTER_DBG(master, level, fmt, args...)
	Convenience macro for printing master-specific debug messages to syslog.
#define	EC_EXT_RING_SIZE 32
	Size of the external datagram ring.
#define	ec_master_num_devices(MASTER) 1
	Number of Ethernet devices.
Enumerations
enum	ec_master_phase_t { EC_ORPHANED, EC_IDLE, EC_OPERATION }
	EtherCAT master phase. More...
Functions
void	ec_master_init_static (void)
	Static variables initializer.
int	ec_master_init (ec_master_t , unsigned int, const uint8_t , const uint8_t , dev_t, struct class , unsigned int)
	Master constructor.
void	ec_master_clear (ec_master_t *)
	Destructor.
int	ec_master_enter_idle_phase (ec_master_t *)
	Transition function from ORPHANED to IDLE phase.
void	ec_master_leave_idle_phase (ec_master_t *)
	Transition function from IDLE to ORPHANED phase.
int	ec_master_enter_operation_phase (ec_master_t *)
	Transition function from IDLE to OPERATION phase.
void	ec_master_leave_operation_phase (ec_master_t *)
	Transition function from OPERATION to IDLE phase.
void	ec_master_eoe_start (ec_master_t *)
	Starts Ethernet over EtherCAT processing on demand.
void	ec_master_eoe_stop (ec_master_t *)
	Stops the Ethernet over EtherCAT processing.
void	ec_master_receive_datagrams (ec_master_t , ec_device_t , const uint8_t *, size_t)
	Processes a received frame.
void	ec_master_queue_datagram (ec_master_t , ec_datagram_t )
	Places a datagram in the datagram queue.
void	ec_master_queue_datagram_ext (ec_master_t , ec_datagram_t )
	Places a datagram in the non-application datagram queue.
void	ec_master_set_send_interval (ec_master_t *, unsigned int)
	Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.
void	ec_master_attach_slave_configs (ec_master_t *)
	Attaches the slave configurations to the slaves.
ec_slave_t *	ec_master_find_slave (ec_master_t *, uint16_t, uint16_t)
	Finds a slave in the bus, given the alias and position.
const ec_slave_t *	ec_master_find_slave_const (const ec_master_t *, uint16_t, uint16_t)
	Finds a slave in the bus, given the alias and position.
void	ec_master_output_stats (ec_master_t *)
	Output master statistics.
void	ec_master_clear_eoe_handlers (ec_master_t *)
	Clear and free all EoE handlers.
void	ec_master_clear_slaves (ec_master_t *)
	Clear all slaves.
unsigned int	ec_master_config_count (const ec_master_t *)
	Get the number of slave configurations provided by the application.
ec_slave_config_t *	ec_master_get_config (const ec_master_t *, unsigned int)
	Get a slave configuration via its position in the list.
const ec_slave_config_t *	ec_master_get_config_const (const ec_master_t *, unsigned int)
	Get a slave configuration via its position in the list.
unsigned int	ec_master_domain_count (const ec_master_t *)
	Get the number of domains.
ec_domain_t *	ec_master_find_domain (ec_master_t *, unsigned int)
	Get a domain via its position in the list.
const ec_domain_t *	ec_master_find_domain_const (const ec_master_t *, unsigned int)
	Get a domain via its position in the list.
uint16_t	ec_master_eoe_handler_count (const ec_master_t *)
	Get the number of EoE handlers.
const ec_eoe_t *	ec_master_get_eoe_handler_const (const ec_master_t *, uint16_t)
	Get an EoE handler via its position in the list.
int	ec_master_debug_level (ec_master_t *, unsigned int)
	Set the debug level.
ec_domain_t *	ecrt_master_create_domain_err (ec_master_t *)
	Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
ec_slave_config_t *	ecrt_master_slave_config_err (ec_master_t *, uint16_t, uint16_t, uint32_t, uint32_t)
	Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
void	ec_master_calc_dc (ec_master_t *)
	Distributed-clocks calculations.
void	ec_master_request_op (ec_master_t *)
	Request OP state for configured slaves.
void	ec_master_internal_send_cb (void *)
	Internal sending callback.
void	ec_master_internal_receive_cb (void *)
	Internal receiving callback.
Variables
const unsigned int	rate_intervals [EC_RATE_COUNT]
	List of intervals for statistics [s].