diff --git a/master/master.c b/master/master.c index 0de0db76..adc48309 100644 --- a/master/master.c +++ b/master/master.c @@ -116,6 +116,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */ master->device = NULL; master->main_device_id = main_id; + master->backup_device = NULL; master->backup_device_id = backup_id; init_MUTEX(&master->device_sem); @@ -849,6 +850,38 @@ static int ec_master_thread(void *data) complete_and_exit(&master->thread_exit, 0); } + +/*****************************************************************************/ + +ssize_t ec_master_device_info(const ec_device_t *device, + const ec_device_id_t *dev_id, + char *buffer) +{ + unsigned int frames_lost; + off_t off = 0; + + off += ec_device_id_print(dev_id, buffer + off); + + if (device) { + off += sprintf(buffer + off, " (connected).\n"); + off += sprintf(buffer + off, " Frames sent: %u\n", + device->tx_count); + off += sprintf(buffer + off, " Frames received: %u\n", + device->rx_count); + frames_lost = device->tx_count - device->rx_count; + if (frames_lost) frames_lost--; + off += sprintf(buffer + off, " Frames lost: %u\n", frames_lost); + } + else if (dev_id->type != ec_device_id_empty) { + off += sprintf(buffer + off, " (WAITING).\n"); + } + else { + off += sprintf(buffer + off, ".\n"); + } + + return off; +} + /*****************************************************************************/ /** @@ -863,9 +896,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */ off_t off = 0; ec_eoe_t *eoe; uint32_t cur, sum, min, max, pos, i; - unsigned int frames_lost; - off += sprintf(buffer + off, "\nVersion: %s", ec_master_version_str); off += sprintf(buffer + off, "\nMode: "); switch (master->mode) { case EC_MASTER_MODE_ORPHANED: @@ -881,14 +912,22 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */ off += sprintf(buffer + off, "\nSlaves: %i\n", master->slave_count); - off += sprintf(buffer + off, "\nDevice:\n"); - off += sprintf(buffer + off, " Frames sent: %u\n", - master->device->tx_count); - off += sprintf(buffer + off, " Frames received: %u\n", - master->device->rx_count); - frames_lost = master->device->tx_count - master->device->rx_count; - if (frames_lost) frames_lost--; - off += sprintf(buffer + off, " Frames lost: %u\n", frames_lost); + + off += sprintf(buffer + off, "\nDevices:\n"); + + if (down_interruptible(&master->device_sem)) { + EC_ERR("Interrupted while waiting for device!\n"); + return -EINVAL; + } + + off += sprintf(buffer + off, " Main: "); + off += ec_master_device_info(master->device, + master->main_device_id, buffer + off); + off += sprintf(buffer + off, " Backup: "); + off += ec_master_device_info(master->backup_device, + master->backup_device_id, buffer + off); + + up(&master->device_sem); off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n"); diff --git a/master/master.h b/master/master.h index 1f05f190..9204dea9 100644 --- a/master/master.h +++ b/master/master.h @@ -101,6 +101,7 @@ struct ec_master ec_device_t *device; /**< EtherCAT device */ const ec_device_id_t *main_device_id; /**< ID of main device */ + ec_device_t *backup_device; /**< EtherCAT backup device */ const ec_device_id_t *backup_device_id; /**< ID of backup device */ struct semaphore device_sem; /**< device semaphore */ diff --git a/master/module.c b/master/module.c index 4332238f..0b8069e4 100644 --- a/master/module.c +++ b/master/module.c @@ -52,33 +52,6 @@ int __init ec_init_module(void); void __exit ec_cleanup_module(void); -ssize_t ec_show_attribute(struct kobject *, struct attribute *, char *); - -/*****************************************************************************/ - -/** \cond */ - -EC_SYSFS_READ_ATTR(info); - -static struct attribute *ec_def_attrs[] = { - &attr_info, - NULL, -}; - -static struct sysfs_ops ec_sysfs_ops = { - .show = &ec_show_attribute, - .store = NULL -}; - -static struct kobj_type ktype_ec_module = { - .release = NULL, // this is ok, because the module can not be unloaded - // if the reference count is greater zero. - .sysfs_ops = &ec_sysfs_ops, - .default_attrs = ec_def_attrs -}; - -/** \endcond */ - /*****************************************************************************/ struct kobject ec_kobj; /**< kobject for master module */ @@ -128,8 +101,7 @@ int __init ec_init_module(void) // init kobject and add it to the hierarchy memset(&ec_kobj, 0x00, sizeof(struct kobject)); - kobject_init(&ec_kobj); - ec_kobj.ktype = &ktype_ec_module; + kobject_init(&ec_kobj); // no ktype if (kobject_set_name(&ec_kobj, "ethercat")) { EC_ERR("Failed to set module kobject name.\n"); @@ -231,42 +203,6 @@ void __exit ec_cleanup_module(void) EC_INFO("Master module cleaned up.\n"); } -/*****************************************************************************/ - -/** - Formats module information for SysFS read access. - \return number of bytes written -*/ - -ssize_t ec_info(char *buffer /**< memory to store data */) -{ - off_t off = 0; - - off += sprintf(buffer + off, "\nVersion: %s", ec_master_version_str); - off += sprintf(buffer + off, "\n"); - - return off; -} - -/*****************************************************************************/ - -/** - Formats attribute data for SysFS read access. - \return number of bytes to read -*/ - -ssize_t ec_show_attribute(struct kobject *kobj, /**< kobject */ - struct attribute *attr, /**< attribute */ - char *buffer /**< memory to store data */ - ) -{ - if (attr == &attr_info) - return ec_info(buffer); - - return 0; -} - - /*****************************************************************************/ /** @@ -403,7 +339,7 @@ int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */ ) { ec_master_t *master; - unsigned int i; + char str[50]; // FIXME list_for_each_entry(master, &masters, list) { if (down_interruptible(&master->device_sem)) { @@ -414,15 +350,12 @@ int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */ if (ec_device_id_check(master->main_device_id, net_dev, driver_name, device_index)) { - EC_INFO("Accepting device %s:%u (", driver_name, device_index); - for (i = 0; i < ETH_ALEN; i++) { - printk("%02X", net_dev->dev_addr[i]); - if (i < ETH_ALEN - 1) printk(":"); - } - printk(") for master %u.\n", master->index); + ec_device_id_print(master->main_device_id, str); + EC_INFO("Accepting device %s for master %u.\n", + str, master->index); if (master->device) { - EC_ERR("Master already has a device.\n"); + EC_ERR("Master %u already has a device.\n", master->index); goto out_up; } @@ -473,22 +406,18 @@ int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */ void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */) { ec_master_t *master = device->master; - unsigned int i; + char str[50]; // FIXME + ec_device_id_print(master->main_device_id, str); + + EC_INFO("Master %u releasing main device %s.\n", master->index, str); + down(&master->device_sem); - - EC_INFO("Master %u releasing device ", master->index); - for (i = 0; i < ETH_ALEN; i++) { - printk("%02X", device->dev->dev_addr[i]); - if (i < ETH_ALEN - 1) printk(":"); - } - printk(".\n"); - - ec_device_clear(master->device); - kfree(master->device); master->device = NULL; - up(&master->device_sem); + + ec_device_clear(device); + kfree(device); } /*****************************************************************************/