387 lines
15 KiB
C
387 lines
15 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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/**
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\file
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EtherCAT master structure.
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*/
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/****************************************************************************/
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#ifndef __EC_MASTER_H__
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#define __EC_MASTER_H__
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#include <linux/version.h>
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#include <linux/irq_work.h>
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#include <linux/list.h>
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#include <linux/timer.h>
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#include <linux/wait.h>
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#include <linux/kthread.h>
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#include <linux/rtmutex.h>
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#include <linux/workqueue.h>
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#include "device.h"
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#include "domain.h"
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#include "ethernet.h"
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#include "fsm_master.h"
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#include "cdev.h"
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#ifdef EC_RTDM
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#include "rtdm.h"
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#endif
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/****************************************************************************/
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/** Convenience macro for printing master-specific information to syslog.
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*
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* This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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* where INDEX is the master index.
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*
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* \param master EtherCAT master
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_MASTER_INFO(master, fmt, args...) \
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printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific errors to syslog.
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*
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* This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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* where INDEX is the master index.
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*
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* \param master EtherCAT master
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_MASTER_ERR(master, fmt, args...) \
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printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific warnings to syslog.
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*
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* This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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* where INDEX is the master index.
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*
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* \param master EtherCAT master
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_MASTER_WARN(master, fmt, args...) \
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printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific debug messages to syslog.
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*
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* This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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* where INDEX is the master index.
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*
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* \param master EtherCAT master
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* \param level Debug level. Master's debug level must be >= \a level for
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* output.
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_MASTER_DBG(master, level, fmt, args...) \
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do { \
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if (master->debug_level >= level) { \
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printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
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master->index, ##args); \
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} \
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} while (0)
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/** Size of the external datagram ring.
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*
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* The external datagram ring is used for slave FSMs.
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*/
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#define EC_EXT_RING_SIZE 32
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/** Maximum number of masters.
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*/
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#define EC_MAX_MASTERS 32
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/****************************************************************************/
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/** EtherCAT master phase.
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*/
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typedef enum {
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EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
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attached. */
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EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
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is not in use, yet. */
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EC_OPERATION /**< Operation phase. The master was requested by a realtime
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application. */
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} ec_master_phase_t;
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/****************************************************************************/
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/** Cyclic statistics.
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*/
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typedef struct {
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unsigned int timeouts; /**< datagram timeouts */
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unsigned int corrupted; /**< corrupted frames */
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unsigned int unmatched; /**< unmatched datagrams (received, but not
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queued any longer) */
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unsigned long output_jiffies; /**< time of last output */
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} ec_stats_t;
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/****************************************************************************/
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/** Device statistics.
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*/
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typedef struct {
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u64 tx_count; /**< Number of frames sent. */
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u64 last_tx_count; /**< Number of frames sent of last statistics cycle. */
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u64 rx_count; /**< Number of frames received. */
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u64 last_rx_count; /**< Number of frames received of last statistics
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cycle. */
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u64 tx_bytes; /**< Number of bytes sent. */
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u64 last_tx_bytes; /**< Number of bytes sent of last statistics cycle. */
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u64 rx_bytes; /**< Number of bytes received. */
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u64 last_rx_bytes; /**< Number of bytes received of last statistics cycle.
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*/
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u64 last_loss; /**< Tx/Rx difference of last statistics cycle. */
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s32 tx_frame_rates[EC_RATE_COUNT]; /**< Transmit rates in frames/s for
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different statistics cycle periods.
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*/
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s32 rx_frame_rates[EC_RATE_COUNT]; /**< Receive rates in frames/s for
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different statistics cycle periods.
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*/
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s32 tx_byte_rates[EC_RATE_COUNT]; /**< Transmit rates in byte/s for
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different statistics cycle periods. */
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s32 rx_byte_rates[EC_RATE_COUNT]; /**< Receive rates in byte/s for
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different statistics cycle periods. */
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s32 loss_rates[EC_RATE_COUNT]; /**< Frame loss rates for different
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statistics cycle periods. */
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unsigned long jiffies; /**< Jiffies of last statistic cycle. */
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} ec_device_stats_t;
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/****************************************************************************/
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#if EC_MAX_NUM_DEVICES < 1
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#error Invalid number of devices
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#endif
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/****************************************************************************/
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/** EtherCAT master.
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*
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* Manages slaves, domains and IO.
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*/
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struct ec_master {
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unsigned int index; /**< Index. */
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unsigned int reserved; /**< \a True, if the master is in use. */
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ec_cdev_t cdev; /**< Master character device. */
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struct device *class_device; /**< Master class device. */
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#ifdef EC_RTDM
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ec_rtdm_dev_t rtdm_dev; /**< RTDM device. */
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#endif
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struct semaphore master_sem; /**< Master semaphore. */
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ec_device_t devices[EC_MAX_NUM_DEVICES]; /**< EtherCAT devices. */
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const uint8_t *macs[EC_MAX_NUM_DEVICES]; /**< Device MAC addresses. */
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#if EC_MAX_NUM_DEVICES > 1
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unsigned int num_devices; /**< Number of devices. Access this always via
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ec_master_num_devices(), because it may be
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optimized! */
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#endif
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struct semaphore device_sem; /**< Device semaphore. */
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ec_device_stats_t device_stats; /**< Device statistics. */
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ec_fsm_master_t fsm; /**< Master state machine. */
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ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
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ec_master_phase_t phase; /**< Master phase. */
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unsigned int active; /**< Master has been activated. */
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unsigned int config_changed; /**< The configuration changed. */
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unsigned int injection_seq_fsm; /**< Datagram injection sequence number
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for the FSM side. */
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unsigned int injection_seq_rt; /**< Datagram injection sequence number
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for the realtime side. */
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ec_slave_t *slaves; /**< Array of slaves on the bus. */
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unsigned int slave_count; /**< Number of slaves on the bus. */
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/* Configuration applied by the application. */
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struct list_head configs; /**< List of slave configurations. */
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struct list_head domains; /**< List of domains. */
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u64 app_time; /**< Time of the last ecrt_master_sync() call. */
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u64 dc_ref_time; /**< Common reference timestamp for DC start times. */
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ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the
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reference clock to the master clock. */
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ec_datagram_t sync_datagram; /**< Datagram used for DC drift
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compensation. */
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ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation
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monitoring. */
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ec_slave_config_t *dc_ref_config; /**< Application-selected DC reference
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clock slave config. */
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ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
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unsigned int scan_busy; /**< Current scan state. */
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unsigned int scan_index; /**< Index of slave currently scanned. */
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unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
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struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
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variable and the \a allow_scan flag. */
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wait_queue_head_t scan_queue; /**< Queue for processes that wait for
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slave scanning. */
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unsigned int config_busy; /**< State of slave configuration. */
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struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
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variable and the allow_config flag. */
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wait_queue_head_t config_queue; /**< Queue for processes that wait for
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slave configuration. */
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struct list_head datagram_queue; /**< Datagram queue. */
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uint8_t datagram_index; /**< Current datagram index. */
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struct list_head ext_datagram_queue; /**< Queue for non-application
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datagrams. */
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struct semaphore ext_queue_sem; /**< Semaphore protecting the \a
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ext_datagram_queue. */
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ec_datagram_t ext_datagram_ring[EC_EXT_RING_SIZE]; /**< External datagram
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ring. */
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unsigned int ext_ring_idx_rt; /**< Index in external datagram ring for RT
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side. */
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unsigned int ext_ring_idx_fsm; /**< Index in external datagram ring for
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FSM side. */
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unsigned int send_interval; /**< Interval between two calls to
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ecrt_master_send(). */
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size_t max_queue_size; /**< Maximum size of datagram queue */
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ec_slave_t *fsm_slave; /**< Slave that is queried next for FSM exec. */
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struct list_head fsm_exec_list; /**< Slave FSM execution list. */
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unsigned int fsm_exec_count; /**< Number of entries in execution list. */
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unsigned int debug_level; /**< Master debug level. */
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unsigned int run_on_cpu; /**< bind kernel threads to this cpu */
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ec_stats_t stats; /**< Cyclic statistics. */
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struct task_struct *thread; /**< Master thread. */
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#ifdef EC_EOE
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struct task_struct *eoe_thread; /**< EoE thread. */
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struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
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#endif
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struct rt_mutex io_mutex; /**< Mutex used in \a IDLE and \a OP phase. */
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void (*send_cb)(void *); /**< Current send datagrams callback. */
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void (*receive_cb)(void *); /**< Current receive datagrams callback. */
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void *cb_data; /**< Current callback data. */
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void (*app_send_cb)(void *); /**< Application's send datagrams
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callback. */
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void (*app_receive_cb)(void *); /**< Application's receive datagrams
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callback. */
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void *app_cb_data; /**< Application callback data. */
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struct list_head sii_requests; /**< SII write requests. */
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struct list_head emerg_reg_requests; /**< Emergency register access
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requests. */
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wait_queue_head_t request_queue; /**< Wait queue for external requests
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from user space. */
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struct work_struct sc_reset_work; /**< Task to reset slave configuration. */
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struct irq_work sc_reset_work_kicker; /**< NMI-Safe kicker to trigger
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reset task above. */
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};
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/****************************************************************************/
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// static funtions
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void ec_master_init_static(void);
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// master creation/deletion
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int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
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const uint8_t *, dev_t, struct class *, unsigned int, unsigned int);
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void ec_master_clear(ec_master_t *);
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/** Number of Ethernet devices.
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*/
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#if EC_MAX_NUM_DEVICES > 1
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#define ec_master_num_devices(MASTER) ((MASTER)->num_devices)
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#else
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#define ec_master_num_devices(MASTER) 1
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#endif
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// phase transitions
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int ec_master_enter_idle_phase(ec_master_t *);
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void ec_master_leave_idle_phase(ec_master_t *);
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int ec_master_enter_operation_phase(ec_master_t *);
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void ec_master_leave_operation_phase(ec_master_t *);
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#ifdef EC_EOE
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// EoE
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void ec_master_eoe_start(ec_master_t *);
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void ec_master_eoe_stop(ec_master_t *);
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#endif
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// datagram IO
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void ec_master_receive_datagrams(ec_master_t *, ec_device_t *,
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const uint8_t *, size_t);
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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
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void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
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// misc.
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void ec_master_set_send_interval(ec_master_t *, unsigned int);
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void ec_master_attach_slave_configs(ec_master_t *);
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ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
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const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
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uint16_t);
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void ec_master_output_stats(ec_master_t *);
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#ifdef EC_EOE
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void ec_master_clear_eoe_handlers(ec_master_t *);
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#endif
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void ec_master_clear_slaves(ec_master_t *);
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unsigned int ec_master_config_count(const ec_master_t *);
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ec_slave_config_t *ec_master_get_config(
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const ec_master_t *, unsigned int);
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const ec_slave_config_t *ec_master_get_config_const(
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const ec_master_t *, unsigned int);
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unsigned int ec_master_domain_count(const ec_master_t *);
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ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
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const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
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unsigned int);
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#ifdef EC_EOE
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uint16_t ec_master_eoe_handler_count(const ec_master_t *);
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const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
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#endif
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int ec_master_debug_level(ec_master_t *, unsigned int);
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ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);
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ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
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uint16_t, uint32_t, uint32_t);
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void ec_master_calc_dc(ec_master_t *);
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void ec_master_request_op(ec_master_t *);
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void ec_master_internal_send_cb(void *);
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void ec_master_internal_receive_cb(void *);
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extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c
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/****************************************************************************/
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#endif
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