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ethercat
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Applied 0005-disable-eoe.patch

This commit is contained in:
Florian Pose 2022-06-23 10:25:36 +02:00
parent efcd95ed9c
commit 405c88f6d6
10 changed files with 53 additions and 18 deletions
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4
master/Kbuild.in
View File

@ -40,13 +40,11 @@ ec_master-objs := \
datagram_pair.o \
device.o \
domain.o \
eoe_request.o \
flag.o \
fmmu_config.o \
foe_request.o \
fsm_change.o \
fsm_coe.o \
fsm_eoe.o \
fsm_foe.o \
fsm_master.o \
fsm_pdo.o \
@ -76,6 +74,8 @@ ec_master-objs := \
voe_handler.o
ifeq (@ENABLE_EOE@,1)
ec_master-objs += eoe_request.o
ec_master-objs += fsm_eoe.o
ec_master-objs += ethernet.o
endif

15
master/fsm_slave.c
View File

@ -52,8 +52,10 @@ int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *, ec_datagram_t *);
void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *, ec_datagram_t *);
int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);
void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);
#ifdef EC_EOE
int ec_fsm_slave_action_process_eoe(ec_fsm_slave_t *, ec_datagram_t *);
void ec_fsm_slave_state_eoe_request(ec_fsm_slave_t *, ec_datagram_t *);
#endif
/*****************************************************************************/
@ -73,13 +75,17 @@ void ec_fsm_slave_init(
fsm->reg_request = NULL;
fsm->foe_request = NULL;
fsm->soe_request = NULL;
#ifdef EC_EOE
fsm->eoe_request = NULL;
#endif
// Init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe);
ec_fsm_foe_init(&fsm->fsm_foe);
ec_fsm_soe_init(&fsm->fsm_soe);
#ifdef EC_EOE
ec_fsm_eoe_init(&fsm->fsm_eoe);
#endif
}
/*****************************************************************************/
@ -112,16 +118,20 @@ void ec_fsm_slave_clear(
wake_up_all(&fsm->slave->master->request_queue);
}
#ifdef EC_EOE
if (fsm->eoe_request) {
fsm->eoe_request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&fsm->slave->master->request_queue);
}
#endif
// clear sub-state machines
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_foe_clear(&fsm->fsm_foe);
ec_fsm_soe_clear(&fsm->fsm_soe);
#ifdef EC_EOE
ec_fsm_eoe_clear(&fsm->fsm_eoe);
#endif
}
/*****************************************************************************/
@ -233,10 +243,12 @@ void ec_fsm_slave_state_ready(
return;
}
#ifdef EC_EOE
// Check for pending EoE IP parameter requests
if (ec_fsm_slave_action_process_eoe(fsm, datagram)) {
return;
}
#endif
}
/*****************************************************************************/
@ -607,7 +619,7 @@ void ec_fsm_slave_state_soe_request(
}
/*****************************************************************************/
#ifdef EC_EOE
/** Check for pending EoE IP parameter requests and process one.
*
* \return non-zero, if a request is processed.
@ -687,5 +699,6 @@ void ec_fsm_slave_state_eoe_request(
fsm->eoe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
#endif
/*****************************************************************************/

8
master/fsm_slave.h
View File

@ -45,7 +45,9 @@
#include "fsm_coe.h"
#include "fsm_foe.h"
#include "fsm_soe.h"
#ifdef EC_EOE
#include "fsm_eoe.h"
#endif
/*****************************************************************************/
@ -64,12 +66,16 @@ struct ec_fsm_slave {
ec_foe_request_t *foe_request; /**< FoE request to process. */
off_t foe_index; /**< Index to FoE write request data. */
ec_soe_request_t *soe_request; /**< SoE request to process. */
ec_eoe_request_t *eoe_request; /**< SoE request to process. */
#ifdef EC_EOE
ec_eoe_request_t *eoe_request; /**< EoE request to process. */
#endif
ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
ec_fsm_foe_t fsm_foe; /**< FoE state machine. */
ec_fsm_soe_t fsm_soe; /**< SoE state machine. */
#ifdef EC_EOE
ec_fsm_eoe_t fsm_eoe; /**< EoE state machine. */
#endif
};
/*****************************************************************************/

4
master/ioctl.c
View File

@ -1615,6 +1615,7 @@ static ATTRIBUTES int ec_ioctl_eoe_handler(
/*****************************************************************************/
#ifdef EC_EOE
/** Request EoE IP parameter setting.
*
* \return Zero on success, otherwise a negative error code.
@ -1695,6 +1696,7 @@ static ATTRIBUTES int ec_ioctl_slave_eoe_ip_param(
return req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
}
#endif
/*****************************************************************************/
@ -4597,6 +4599,7 @@ long EC_IOCTL(
case EC_IOCTL_SLAVE_SOE_READ:
ret = ec_ioctl_slave_soe_read(master, arg);
break;
#ifdef EC_EOE
case EC_IOCTL_SLAVE_EOE_IP_PARAM:
if (!ctx->writable) {
ret = -EPERM;
@ -4604,6 +4607,7 @@ long EC_IOCTL(
}
ret = ec_ioctl_slave_eoe_ip_param(master, arg);
break;
#endif
case EC_IOCTL_SLAVE_SOE_WRITE:
if (!ctx->writable) {
ret = -EPERM;

4
master/ioctl.h
View File

@ -74,7 +74,9 @@
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
#ifdef EC_EOE
#define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)
#endif
#define EC_IOCTL_CONFIG EC_IOWR(0x19, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x1a, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t)
@ -614,6 +616,7 @@ typedef struct {
#endif
#endif
#ifdef EC_EOE
typedef struct {
// input
uint16_t slave_position;
@ -636,6 +639,7 @@ typedef struct {
uint16_t result;
} ec_ioctl_slave_eoe_ip_t;
#endif
/*****************************************************************************/
typedef struct {

1
tool/CommandIp.h
View File

@ -27,6 +27,7 @@
*
****************************************************************************/
#ifndef __COMMANDIP_H__
#define __COMMANDIP_H__

21
tool/Makefile.am
View File

@ -49,7 +49,6 @@ ethercat_SOURCES = \
CommandFoeRead.cpp \
CommandFoeWrite.cpp \
CommandGraph.cpp \
CommandIp.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
CommandRegRead.cpp \
@ -74,12 +73,6 @@ ethercat_SOURCES = \
main.cpp \
sii_crc.cpp
if ENABLE_EOE
ethercat_SOURCES += CommandEoe.cpp
else
EXTRA_DIST += CommandEoe.cpp
endif
noinst_HEADERS = \
Command.h \
CommandAlias.h \
@ -93,7 +86,6 @@ noinst_HEADERS = \
CommandFoeRead.h \
CommandFoeWrite.h \
CommandGraph.h \
CommandIp.h \
CommandMaster.h \
CommandPdos.h \
CommandRegRead.h \
@ -118,9 +110,18 @@ noinst_HEADERS = \
sii_crc.h
if ENABLE_EOE
noinst_HEADERS += CommandEoe.h
ethercat_SOURCES += \
CommandEoe.cpp \
CommandIp.cpp
noinst_HEADERS += \
CommandEoe.h \
CommandIp.h
else
EXTRA_DIST += CommandEoe.h
EXTRA_DIST += \
CommandEoe.cpp \
CommandIp.cpp \
CommandEoe.h \
CommandIp.h
endif
REV = `if test -s $(top_srcdir)/revision; then \

2
tool/MasterDevice.cpp
View File

@ -605,6 +605,7 @@ void MasterDevice::writeSoe(ec_ioctl_slave_soe_write_t *data)
/****************************************************************************/
#ifdef EC_EOE
void MasterDevice::setIpParam(ec_ioctl_slave_eoe_ip_t *data)
{
if (ioctl(fd, EC_IOCTL_SLAVE_EOE_IP_PARAM, data) < 0) {
@ -617,5 +618,6 @@ void MasterDevice::setIpParam(ec_ioctl_slave_eoe_ip_t *data)
}
}
}
#endif
/*****************************************************************************/

6
tool/MasterDevice.h
View File

@ -93,7 +93,7 @@ class MasterDeviceSoeException:
};
/****************************************************************************/
#ifdef EC_EOE
class MasterDeviceEoeException:
public MasterDeviceException
{
@ -108,7 +108,7 @@ class MasterDeviceEoeException:
MasterDeviceException("EoE set IP parameter failed."),
result(result) {};
};
#endif
/****************************************************************************/
class MasterDevice
@ -160,10 +160,10 @@ class MasterDevice
void writeFoe(ec_ioctl_slave_foe_t *);
#ifdef EC_EOE
void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
void setIpParam(ec_ioctl_slave_eoe_ip_t *);
#endif
void readSoe(ec_ioctl_slave_soe_read_t *);
void writeSoe(ec_ioctl_slave_soe_write_t *);
void setIpParam(ec_ioctl_slave_eoe_ip_t *);
unsigned int getMasterCount() const {return masterCount;}

6
tool/main.cpp
View File

@ -49,7 +49,9 @@ using namespace std;
#include "CommandFoeRead.h"
#include "CommandFoeWrite.h"
#include "CommandGraph.h"
#include "CommandIp.h"
#ifdef EC_EOE
# include "CommandIp.h"
#endif
#include "CommandMaster.h"
#include "CommandPdos.h"
#include "CommandRegRead.h"
@ -291,7 +293,9 @@ int main(int argc, char **argv)
commandList.push_back(new CommandFoeRead());
commandList.push_back(new CommandFoeWrite());
commandList.push_back(new CommandGraph());
#ifdef EC_EOE
commandList.push_back(new CommandIp());
#endif
commandList.push_back(new CommandMaster());
commandList.push_back(new CommandPdos());
commandList.push_back(new CommandRegRead());