Added --enable-eoe conditional.
This commit is contained in:
Florian Pose
parent
0a99c21c72
commit
c4b87f7317
26
configure.ac
26
configure.ac
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@ -413,6 +413,31 @@ AC_ARG_ENABLE([dummy],
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AM_CONDITIONAL(ENABLE_DUMMY, test "x$dummy" = "x1")
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#------------------------------------------------------------------------------
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# Ethernet-over-EtherCAT support
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#------------------------------------------------------------------------------
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AC_ARG_ENABLE([eoe],
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AS_HELP_STRING([--enable-eoe],
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[Enable EoE support (default: yes)]),
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[
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case "${enableval}" in
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yes) eoe=1
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;;
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no) eoe=0
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;;
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*) AC_MSG_ERROR([Invalid value for --enable-eoe])
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;;
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esac
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],
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[eoe=1]
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)
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if test "x${eoe}" = "x1"; then
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AC_DEFINE([EC_EOE], [1], [EoE support enabled])
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fi
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AM_CONDITIONAL(ENABLE_EOE, test "x$eoe" = "x1")
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#------------------------------------------------------------------------------
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# Create config.kbuild
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@ -433,6 +458,7 @@ RTAI_DIR := "${rtaidir}"
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MSR_DIR := "${msrdir}"
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ENABLE_DEBUG_IF := ${dbg}
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ENABLE_DUMMY := ${dummy}
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ENABLE_EOE := ${eoe}
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EOF
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#------------------------------------------------------------------------------
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@ -36,9 +36,12 @@ include $(src)/../config.kbuild
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obj-m := ec_master.o
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ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu.o slave.o \
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datagram.o domain.o mailbox.o canopen.o ethernet.o fsm_sii.o fsm_change.o \
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datagram.o domain.o mailbox.o canopen.o fsm_sii.o fsm_change.o \
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fsm_coe.o fsm_mapping.o fsm_slave.o fsm_master.o xmldev.o
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ifeq ($(ENABLE_EOE),1)
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ec_master-objs += ethernet.o
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endif
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ifeq ($(ENABLE_DEBUG_IF),1)
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ec_master-objs += debug.o
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endif
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@ -41,7 +41,9 @@
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "fsm_master.h"
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/*****************************************************************************/
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@ -238,8 +240,10 @@ void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machin
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fsm->idle = 0;
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fsm->scan_jiffies = jiffies;
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#ifdef EC_EOE
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ec_master_eoe_stop(master);
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ec_master_clear_eoe_handlers(master);
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#endif
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ec_master_destroy_slaves(master);
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master->slave_count = datagram->working_counter;
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@ -812,6 +816,7 @@ void ec_fsm_master_state_scan_slaves(
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if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
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return;
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#ifdef EC_EOE
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if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
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// create EoE handler for this slave
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ec_eoe_t *eoe;
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@ -828,6 +833,7 @@ void ec_fsm_master_state_scan_slaves(
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list_add_tail(&eoe->list, &master->eoe_handlers);
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}
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}
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#endif
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// another slave to fetch?
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if (slave->list.next != &master->slaves) {
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@ -841,7 +847,9 @@ void ec_fsm_master_state_scan_slaves(
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(u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
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// check if EoE processing has to be started
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#ifdef EC_EOE
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ec_master_eoe_start(master);
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#endif
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master->scan_state = EC_REQUEST_COMPLETE;
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wake_up_interruptible(&master->scan_queue);
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@ -50,7 +50,9 @@
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#include "slave.h"
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#include "device.h"
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#include "datagram.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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/*****************************************************************************/
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@ -58,7 +60,9 @@ void ec_master_destroy_domains(ec_master_t *);
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void ec_master_sync_io(ec_master_t *);
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static int ec_master_idle_thread(ec_master_t *);
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static int ec_master_operation_thread(ec_master_t *);
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#ifdef EC_EOE
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void ec_master_eoe_run(unsigned long);
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#endif
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void ec_master_check_sdo(unsigned long);
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int ec_master_measure_bus_time(ec_master_t *);
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ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
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@ -145,9 +149,12 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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for (i = 0; i < HZ; i++) {
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master->idle_cycle_times[i] = 0;
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#ifdef EC_EOE
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master->eoe_cycle_times[i] = 0;
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#endif
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}
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master->idle_cycle_time_pos = 0;
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#ifdef EC_EOE
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master->eoe_cycle_time_pos = 0;
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init_timer(&master->eoe_timer);
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@ -155,6 +162,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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master->eoe_timer.data = (unsigned long) master;
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master->eoe_running = 0;
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INIT_LIST_HEAD(&master->eoe_handlers);
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#endif
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master->internal_lock = SPIN_LOCK_UNLOCKED;
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master->request_cb = NULL;
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@ -228,7 +236,9 @@ void ec_master_clear(
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ec_master_t *master /**< EtherCAT master */
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)
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{
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#ifdef EC_EOE
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ec_master_clear_eoe_handlers(master);
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#endif
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ec_master_destroy_slaves(master);
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ec_master_destroy_domains(master);
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ec_fsm_master_clear(&master->fsm);
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@ -243,6 +253,7 @@ void ec_master_clear(
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/*****************************************************************************/
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#ifdef EC_EOE
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/**
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* Clear and free all EoE handlers.
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*/
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@ -259,6 +270,7 @@ void ec_master_clear_eoe_handlers(
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kfree(eoe);
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}
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}
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#endif
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/*****************************************************************************/
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@ -394,7 +406,9 @@ void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
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{
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master->mode = EC_MASTER_MODE_ORPHANED;
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#ifdef EC_EOE
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ec_master_eoe_stop(master);
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#endif
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ec_master_thread_stop(master);
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ec_master_destroy_slaves(master);
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}
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@ -408,7 +422,9 @@ void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
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int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
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{
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ec_slave_t *slave;
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#ifdef EC_EOE
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ec_eoe_t *eoe;
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#endif
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down(&master->config_sem);
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master->allow_config = 0; // temporarily disable slave configuration
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@ -442,11 +458,13 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
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list_for_each_entry(slave, &master->slaves, list) {
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ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
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}
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#ifdef EC_EOE
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// ... but set EoE slaves to OP
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list_for_each_entry(eoe, &master->eoe_handlers, list) {
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if (ec_eoe_is_open(eoe))
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ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
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}
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#endif
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if (master->debug_level)
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EC_DBG("Switching to operation mode.\n");
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@ -475,11 +493,15 @@ void ec_master_leave_operation_mode(ec_master_t *master
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/**< EtherCAT master */)
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{
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ec_slave_t *slave;
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#ifdef EC_EOE
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ec_eoe_t *eoe;
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#endif
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master->mode = EC_MASTER_MODE_IDLE;
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#ifdef EC_EOE
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ec_master_eoe_stop(master);
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#endif
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ec_master_thread_stop(master);
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master->request_cb = ec_master_request_cb;
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@ -491,17 +513,21 @@ void ec_master_leave_operation_mode(ec_master_t *master
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ec_slave_reset(slave);
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ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
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}
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#ifdef EC_EOE
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// ... but leave EoE slaves in OP
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list_for_each_entry(eoe, &master->eoe_handlers, list) {
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if (ec_eoe_is_open(eoe))
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ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
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}
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#endif
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ec_master_destroy_domains(master);
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if (ec_master_thread_start(master, ec_master_idle_thread))
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EC_WARN("Failed to restart master thread!\n");
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#ifdef EC_EOE
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ec_master_eoe_start(master);
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#endif
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master->allow_scan = 1;
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master->allow_config = 1;
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@ -941,7 +967,9 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
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)
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{
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off_t off = 0;
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#ifdef EC_EOE
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ec_eoe_t *eoe;
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#endif
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uint32_t cur, sum, min, max, pos, i;
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off += sprintf(buffer + off, "\nMode: ");
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@ -990,6 +1018,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
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off += sprintf(buffer + off, " Idle cycle: %u / %u.%u / %u\n",
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min, sum / HZ, (sum * 100 / HZ) % 100, max);
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#ifdef EC_EOE
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sum = 0;
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min = 0xFFFFFFFF;
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max = 0;
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@ -1010,6 +1039,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
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eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
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((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
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}
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#endif
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off += sprintf(buffer + off, "\n");
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@ -1079,6 +1109,7 @@ ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
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/*****************************************************************************/
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#ifdef EC_EOE
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/**
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Starts Ethernet-over-EtherCAT processing on demand.
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*/
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@ -1136,6 +1167,7 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
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cycles_t cycles_start, cycles_end;
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unsigned long restart_jiffies;
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list_for_each_entry(eoe, &master->eoe_handlers, list) {
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if (ec_eoe_is_open(eoe)) {
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none_open = 0;
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@ -1173,6 +1205,7 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
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master->eoe_timer.expires += restart_jiffies;
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add_timer(&master->eoe_timer);
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}
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#endif
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/*****************************************************************************/
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@ -1435,7 +1468,9 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
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}
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// restart EoE process and master thread with new locking
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#ifdef EC_EOE
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ec_master_eoe_stop(master);
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#endif
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ec_master_thread_stop(master);
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ec_master_prepare(master); // prepare asynchronous IO
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@ -1453,7 +1488,9 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
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EC_ERR("Failed to start master thread!\n");
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return -1;
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}
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#ifdef EC_EOE
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ec_master_eoe_start(master);
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#endif
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return 0;
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}
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@ -145,11 +145,13 @@ struct ec_master
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uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */
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unsigned int idle_cycle_time_pos; /**< time ring buffer position */
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#ifdef EC_EOE
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struct timer_list eoe_timer; /**< EoE timer object */
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unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
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struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
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uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */
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unsigned int eoe_cycle_time_pos; /**< time ring buffer position */
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#endif
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spinlock_t internal_lock; /**< spinlock used in idle mode */
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int (*request_cb)(void *); /**< lock request callback */
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@ -185,9 +187,11 @@ void ec_master_leave_idle_mode(ec_master_t *);
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int ec_master_enter_operation_mode(ec_master_t *);
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void ec_master_leave_operation_mode(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 *, const uint8_t *, size_t);
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@ -195,7 +199,9 @@ void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
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// misc.
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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_destroy_slaves(ec_master_t *);
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/*****************************************************************************/
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