EtherCAT master driver module. More...

Macros
#define	MAX_MASTERS 32
	Maximum number of masters. More...

#define	EC_MAX_MAC_STRING_SIZE (3 * ETH_ALEN)
	Maximum MAC string size.

Functions
int __init	ec_init_module (void)
	Module initialization. More...

void __exit	ec_cleanup_module (void)
	Module cleanup. More...

static int	ec_mac_parse (uint8_t mac, const char src, int allow_empty)
	Parse a MAC address from a string. More...

unsigned int	ec_master_count (void)
	Get the number of masters.

int	ec_mac_equal (const uint8_t mac1, const uint8_t mac2)

ssize_t	ec_mac_print (const uint8_t mac, char buffer)
	Print a MAC address to a buffer. More...

int	ec_mac_is_zero (const uint8_t *mac)

int	ec_mac_is_broadcast (const uint8_t *mac)

void	ec_print_data (const uint8_t *data, size_t size)
	Outputs frame contents for debugging purposes. More...

void	ec_print_data_diff (const uint8_t d1, const uint8_t d2, size_t size)
	Outputs frame contents and differences for debugging purposes. More...

size_t	ec_state_string (uint8_t states, char *buffer, uint8_t multi)
	Prints slave states in clear text. More...

ec_device_t *	ecdev_offer (struct net_device net_dev, ec_pollfunc_t poll, struct module module)
	Offers an EtherCAT device to a certain master. More...

ec_master_t *	ecrt_request_master_err (unsigned int master_index)
	Request a master. More...

ec_master_t *	ecrt_request_master (unsigned int master_index)
	Requests an EtherCAT master for realtime operation. More...

void	ecrt_release_master (ec_master_t *master)
	Releases a requested EtherCAT master. More...

unsigned int	ecrt_version_magic (void)
	Returns the version magic of the realtime interface. More...

Variables
static char *	main_devices [MAX_MASTERS]
	Main devices parameter. More...

static unsigned int	master_count
	Number of masters. More...

static char *	backup_devices [MAX_MASTERS]
	Backup devices parameter. More...

static unsigned int	backup_count
	Number of backup devices. More...

static unsigned int	debug_level
	Debug level parameter. More...

static unsigned int	run_on_cpu = 0xffffffff
	Bind created kernel threads to a cpu. More...

static ec_master_t *	masters
	Array of masters. More...

static struct semaphore	master_sem
	Master semaphore. More...

dev_t	device_number
	Device number for master cdevs. More...

struct class *	class
	Device class. More...

static uint8_t	macs [MAX_MASTERS][2][ETH_ALEN]
	MAC addresses. More...

char *	ec_master_version_str = EC_MASTER_VERSION
	Version string. More...

const char *	ec_device_names [2]
	Device names. More...

const ec_request_state_t	ec_request_state_translation_table []
	Global request state type translation table. More...

Detailed Description

EtherCAT master driver module.

Definition in file module.c.

Macro Definition Documentation

◆ MAX_MASTERS

#define MAX_MASTERS 32

Maximum number of masters.

Definition at line 46 of file module.c.

Function Documentation

◆ ec_init_module()

int __init ec_init_module ( void )

Module initialization.

Initializes master_count masters.

Returns: 0 on success, else < 0

Definition at line 101 of file module.c.

◆ ec_cleanup_module()

void __exit ec_cleanup_module ( void )

Module cleanup.

Clears all master instances.

Definition at line 188 of file module.c.

◆ ec_mac_parse()

static int ec_mac_parse	(	uint8_t *	mac,
		const char *	src,
		int	allow_empty
	)

static

Parse a MAC address from a string.

The MAC address must match the regular expression "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".

Returns: 0 on success, else < 0

Definition at line 310 of file module.c.

◆ ec_mac_equal()

int ec_mac_equal	(	const uint8_t *	mac1,
		const uint8_t *	mac2
	)

Returns: true, if two MAC addresses are equal.

Parameters

mac1	First MAC address.
mac2	Second MAC address.

Definition at line 223 of file module.c.

◆ ec_mac_print()

ssize_t ec_mac_print	(	const uint8_t *	mac,
		char *	buffer
	)

Print a MAC address to a buffer.

The buffer size must be at least EC_MAX_MAC_STRING_SIZE.

Returns: number of bytes written.

Parameters

mac	MAC address
buffer	Target buffer.

Definition at line 249 of file module.c.

◆ ec_mac_is_zero()

int ec_mac_is_zero ( const uint8_t * mac )

Returns: true, if the MAC address is all-zero.

Parameters

mac	MAC address.

Definition at line 270 of file module.c.

◆ ec_mac_is_broadcast()

int ec_mac_is_broadcast ( const uint8_t * mac )

Returns: true, if the given MAC address is the broadcast address.

Parameters

mac	MAC address.

Definition at line 288 of file module.c.

◆ ec_print_data()

void ec_print_data	(	const uint8_t *	data,
		size_t	size
	)

Outputs frame contents for debugging purposes.

If the data block is larger than 256 bytes, only the first 128 and the last 128 bytes will be shown

Parameters

data	pointer to data
size	number of bytes to output

Definition at line 348 of file module.c.

◆ ec_print_data_diff()

void ec_print_data_diff	(	const uint8_t *	d1,
		const uint8_t *	d2,
		size_t	size
	)

Outputs frame contents and differences for debugging purposes.

Parameters

d1	first data
d2	second data
size	number of bytes to output

Definition at line 376 of file module.c.

◆ ec_state_string()

size_t ec_state_string	(	uint8_t	states,
		char *	buffer,
		uint8_t	multi
	)

Prints slave states in clear text.

Returns: Size of the created string.

Parameters

states	slave states
buffer	target buffer (min. EC_STATE_STRING_SIZE bytes)
multi	Show multi-state mask.

Definition at line 405 of file module.c.

◆ ecrt_request_master_err()

ec_master_t* ecrt_request_master_err ( unsigned int master_index )

Request a master.

Same as ecrt_request_master(), but with ERR_PTR() return value.

Returns: Requested master.

Parameters

master_index Master index.

Definition at line 541 of file module.c.

Variable Documentation

◆ main_devices

char* main_devices[MAX_MASTERS]

static

Main devices parameter.

Definition at line 57 of file module.c.

◆ master_count

unsigned int master_count

static

Number of masters.

Definition at line 58 of file module.c.

◆ backup_devices

char* backup_devices[MAX_MASTERS]

static

Backup devices parameter.

Definition at line 59 of file module.c.

◆ backup_count

unsigned int backup_count

static

Number of backup devices.

Definition at line 60 of file module.c.

◆ debug_level

unsigned int debug_level

static

Debug level parameter.

Definition at line 61 of file module.c.

◆ run_on_cpu

unsigned int run_on_cpu = 0xffffffff

static

Bind created kernel threads to a cpu.

Default do not bind

Definition at line 62 of file module.c.

◆ masters

ec_master_t* masters

static

Array of masters.

Definition at line 64 of file module.c.

◆ master_sem

struct semaphore master_sem

static

Master semaphore.

Definition at line 65 of file module.c.

◆ device_number

dev_t device_number

Device number for master cdevs.

Definition at line 67 of file module.c.

◆ class

struct class* class

Device class.

Definition at line 68 of file module.c.

◆ macs

uint8_t macs[MAX_MASTERS][2][ETH_ALEN]

static

MAC addresses.

Definition at line 70 of file module.c.

◆ ec_master_version_str

char* ec_master_version_str = EC_MASTER_VERSION

Version string.

Definition at line 72 of file module.c.

◆ ec_device_names

const char* ec_device_names[2]

Initial value:

= {
    "main",
    "backup"
}

Device names.

Definition at line 469 of file module.c.

◆ ec_request_state_translation_table

const ec_request_state_t ec_request_state_translation_table[]

Initial value:

= {
    EC_REQUEST_UNUSED,  
    EC_REQUEST_BUSY,    
    EC_REQUEST_BUSY,    
    EC_REQUEST_SUCCESS, 
    EC_REQUEST_ERROR    
}

Global request state type translation table.

Translates an internal request state to an external one.

Definition at line 662 of file module.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MAX_MASTERS

Function Documentation

◆ ec_init_module()

◆ ec_cleanup_module()

◆ ec_mac_parse()

◆ ec_mac_equal()

◆ ec_mac_print()

◆ ec_mac_is_zero()

◆ ec_mac_is_broadcast()

◆ ec_print_data()

◆ ec_print_data_diff()

◆ ec_state_string()

◆ ecrt_request_master_err()

Variable Documentation

◆ main_devices

◆ master_count

◆ backup_devices

◆ backup_count

◆ debug_level

◆ run_on_cpu

◆ masters

◆ master_sem

◆ device_number

◆ class

◆ macs

◆ ec_master_version_str

◆ ec_device_names

◆ ec_request_state_translation_table