Userspace applications.
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Florian Pose
parent
71b9a6d704
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@ -327,39 +327,41 @@ Figure~\ref{fig:arch} gives a general overview of the master architecture.
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\begin{figure}[htbp]
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\centering
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\includegraphics[width=.9\textwidth]{images/architecture}
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\caption{Master architecture}
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\caption{Master Architecture}
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\label{fig:arch}
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\end{figure}
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\paragraph{Master Module}
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\index{Master module}
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The components of the master environment are described below:
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Kernel module containing one or more EtherCAT master instances (see
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sec.~\ref{sec:mastermod}), the ``Device Interface'' (see sec.~\ref{sec:ecdev})
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and the ``Application Interface'' (see chap.~\ref{chap:api}).
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\begin{description}
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\paragraph{Device Modules}
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\index{Device modules}
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\item[Master Module]\index{Master Module} Kernel module containing one or more
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EtherCAT master instances (see sec.~\ref{sec:mastermod}), the ``Device
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Interface'' (see sec.~\ref{sec:ecdev}) and the ``Application Interface'' (see
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chap.~\ref{chap:api}).
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EtherCAT-capable Ethernet device driver modules\index{Device modules}, that
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offer their devices to the EtherCAT master via the device interface (see
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sec.~\ref{sec:ecdev}). These modified network drivers can handle network
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devices used for EtherCAT operation and ``normal'' Ethernet devices in
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parallel. A master can accept a certain device and then is able to send and
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receive EtherCAT frames. Ethernet devices declined by the master module are
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connected to the kernel's network stack as usual.
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\item[Device Modules]\index{Device modules} EtherCAT-capable Ethernet device
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driver modules\index{Device modules}, that offer their devices to the EtherCAT
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master via the device interface (see sec.~\ref{sec:ecdev}). These modified
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network drivers can handle network devices used for EtherCAT operation and
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``normal'' Ethernet devices in parallel. A master can accept a certain device
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and then is able to send and receive EtherCAT frames. Ethernet devices
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declined by the master module are connected to the kernel's network stack as
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usual.
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\paragraph{Application Modules}
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\index{Application module}
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\item[Application]\index{Application} A program that uses the EtherCAT master
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(usually for cyclic exchange of process data with EtherCAT slaves). These
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programs are not part of the EtherCAT master code\footnote{Although there are
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some examples provided in the \textit{examples/} directory.}, but have to be
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generated or written by the user. An application can ``request'' a master
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through the application interface (see chap.~\ref{chap:api}). If this
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succeeds, it has the control over the master: It can provide a bus
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configuration and exchange process data. Applications can be kernel modules
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(that use the kernel application interface directly) or userspace programs,
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that use the application interface via the EtherCAT library (see
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sec.~\ref{sec:userlib}).
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Kernel modules, that use the EtherCAT master (usually for cyclic exchange of
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process data with EtherCAT slaves). These modules are not part of the EtherCAT
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master code\footnote{Although there are some examples provided in the
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\textit{examples/} directory.}, but have to be generated or written by the
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user. An application module can ``request'' a master through the application
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interface (see chap.~\ref{chap:api}). If this succeeds, the module has the
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control over the master: It can provide a bus configuration and exchange
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process data.
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\end{description}
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%------------------------------------------------------------------------------
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@ -374,6 +376,7 @@ The EtherCAT master runs through several phases (see fig.~\ref{fig:phases}):
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\caption{Master phases and transitions}
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\label{fig:phases}
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\end{figure}
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\begin{description}
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\item[Orphaned phase]\index{Orphaned phase} This mode takes effect, when the
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@ -590,7 +593,10 @@ Domains are created Slaves are configured and Pdo entries are registered (see
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sec.~\ref{sec:masterconfig}).
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\item[Operation] Cyclic code is run, process data is exchanged (see
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sec.~\ref{sec:cyclic}).
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sec.~\ref{sec:cyclic}). To enter operation mode, the master has to be
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``activated'' to calculate the process data image and apply the bus
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configuration for the first time. After activation, the application is in
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charge to send and receive frames.
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\end{description}
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@ -636,14 +642,15 @@ access to it has to be sequentialized. This is usually done by locking with
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semaphores, or other methods to protect critical sections.
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The master itself can not provide locking mechanisms, because it has no chance
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to know the appropriate kind of lock. For example if the application uses RTAI
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functionality, ordinary kernel semaphores would not be sufficient. For that, an
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important design decision was made: The application that reserved a master must
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have the total control, therefore it has to take responsibility for providing
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the appropriate locking mechanisms. If another instance wants to access the
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master, it has to request the master lock by callbacks, that have to be set by
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the application. Moreover the application can deny access to the master if it
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considers it to be awkward at the moment.
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to know the appropriate kind of lock. For example if the application is in
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kernelspace and uses RTAI functionality, ordinary kernel semaphores would not
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be sufficient. For that, an important design decision was made: The
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application that reserved a master must have the total control, therefore it
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has to take responsibility for providing the appropriate locking mechanisms.
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If another instance wants to access the master, it has to request the master
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lock by callbacks, that have to be set by the application. Moreover the
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application can deny access to the master if it considers it to be awkward at
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the moment.
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\begin{figure}[htbp]
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\centering
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@ -71,29 +71,29 @@ Single
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4 1 0 50 -1 16 10 0.0000 4 120 465 5445 5760 Device\001
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4 1 0 50 -1 16 10 0.0000 4 120 615 5445 5925 Interface\001
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-6
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6 3908 4310 4463 5319
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 3958.125 4815.000 3915 4320 4455 4815 3915 5310
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4 1 0 50 -1 16 10 4.7124 4 150 765 4162 4822 Application\001
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4 1 0 50 -1 16 10 4.7124 4 120 615 3997 4822 Interface\001
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6 3870 4275 4500 5355
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5 1 0 1 0 7 50 -1 20 0.000 0 0 0 0 3958.125 4815.000 3915 4320 4455 4815 3915 5310
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4 1 0 49 -1 16 10 4.7124 4 150 765 4162 4822 Application\001
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4 1 0 49 -1 16 10 4.7124 4 120 615 3997 4822 Interface\001
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-6
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6 4538 2648 5813 3293
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 5175.000 2655.000 5805 2655 5175 3285 4545 2655
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4 1 0 50 -1 16 12 0.0000 4 135 600 5175 3105 Device\001
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4 1 0 50 -1 16 12 0.0000 4 135 825 5175 2880 Character\001
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6 5205 2648 6480 3293
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 5842.000 2655.000 6472 2655 5842 3285 5212 2655
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4 1 0 50 -1 16 12 0.0000 4 135 600 5842 3105 Device\001
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4 1 0 50 -1 16 12 0.0000 4 135 825 5842 2880 Character\001
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-6
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6 1575 2430 7785 2925
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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4 0 0 50 -1 16 12 0.0000 4 180 1110 1665 2880 Kernel space\001
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4 0 0 50 -1 16 12 0.0000 4 180 945 1665 2565 User space\001
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6 3870 945 4500 2025
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5 1 0 1 0 7 49 -1 -1 0.000 0 0 0 0 3958.125 1485.000 3915 990 4455 1485 3915 1980
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4 1 0 48 -1 16 10 4.7124 4 150 765 4162 1492 Application\001
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4 1 0 48 -1 16 10 4.7124 4 120 615 3997 1492 Interface\001
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-6
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6 4673 1298 5677 2302
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1 4 0 1 0 7 50 -1 -1 4.000 1 0.0000 5175 1800 495 495 5670 2295 4680 1305
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4 1 0 50 -1 16 12 0.0000 4 135 360 5175 2025 Tool\001
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4 1 0 50 -1 16 12 0.0000 4 135 765 5175 1755 'ethercat'\001
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6 2160 855 3420 2115
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1 3 0 1 0 7 50 -1 20 0.000 1 0.0000 2790 1485 585 585 2790 1485 3375 1485
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4 1 0 49 -1 16 12 0.0000 4 180 945 2790 1665 Application\001
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4 1 0 49 -1 16 12 0.0000 4 180 885 2790 1440 Userspace\001
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-6
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 5445 4815 810 495 4635 4320 6255 5310
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1 4 0 1 0 7 50 -1 -1 0.000 1 0.0000 2484 4871 459 459 2025 4860 2944 4882
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 5445 4815 810 495 4635 4320 6255 5310
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1 4 0 1 0 7 50 -1 -1 4.000 1 0.0000 7058 1658 495 495 7553 2153 6563 1163
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 8 0 0 5
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 9 0 0 5
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1755 5985 1755 3645 3465 3645 3465 5985 1755 5985
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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5175 3285 5175 3645
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 8 0 0 5
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6435 5985 6435 3645 3915 3645 3915 5985 6435 5985
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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3915 1485 3375 1485
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2 4 0 1 0 7 50 -1 20 0.000 0 0 7 0 0 5
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5040 2250 3915 2250 3915 720 5040 720 5040 2250
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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0.000 -1.000 0.000
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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0.000 -1.000 0.000
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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0.000 -1.000 0.000
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5040 1485 5580 1800 5715 2655
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0.000 -1.000 0.000
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4 1 0 50 -1 16 10 0.0000 4 150 750 5445 7200 net_device\001
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4 1 0 50 -1 16 10 0.0000 4 150 750 6795 7200 net_device\001
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4 2 0 50 -1 12 10 0.0000 4 135 810 5355 6210 ecdev_*()\001
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4 2 0 50 -1 12 10 0.0000 4 135 810 7110 6210 netif_*()\001
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4 2 0 50 -1 12 10 0.0000 4 105 810 5355 6210 ecdev_*()\001
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4 1 0 50 -1 16 12 0.0000 4 135 1545 6345 6570 EtherCAT Network\001
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4 1 0 50 -1 16 12 0.0000 4 135 1200 6345 6750 Driver Module\001
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4 0 0 50 -1 16 12 0.0000 4 135 2130 4005 3870 EtherCAT Master Module\001
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@ -153,8 +162,15 @@ Single
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4 2 0 50 -1 16 12 0.0000 4 135 315 4995 8100 NIC\001
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4 2 0 50 -1 16 12 0.0000 4 135 315 6345 8100 NIC\001
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4 0 0 50 -1 16 12 0.0000 4 135 810 1665 8010 Hardware\001
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4 2 0 50 -1 12 10 4.7124 4 135 720 3645 4725 ecrt_*()\001
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4 2 0 50 -1 12 10 4.7124 4 105 720 3645 4725 ecrt_*()\001
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4 0 0 50 -1 16 12 0.0000 4 180 945 1845 3870 Application\001
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4 0 0 50 -1 16 12 0.0000 4 135 630 1845 4095 Module\001
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4 1 0 50 -1 16 12 0.0000 4 135 675 5445 4860 Master0\001
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4 1 0 50 -1 16 12 0.0000 4 135 390 2475 4950 Task\001
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4 0 0 50 -1 16 12 0.0000 4 180 1050 1665 2880 Kernelspace\001
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4 0 0 50 -1 16 12 0.0000 4 180 885 1665 2565 Userspace\001
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4 1 0 50 -1 16 12 4.7124 4 135 870 4635 1530 libethercat\001
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4 2 0 50 -1 12 10 4.7124 4 105 720 3645 1395 ecrt_*()\001
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4 2 0 50 -1 12 10 0.0000 4 105 810 7155 6210 netif_*()\001
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4 1 0 50 -1 16 12 0.0000 4 135 735 5445 4905 Master 0\001
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4 1 0 50 -1 16 12 0.0000 4 135 360 7065 1845 Tool\001
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4 1 0 50 -1 16 12 0.0000 4 135 765 7065 1620 'ethercat'\001
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