diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/include/ecrt.h etherlabmaster-1.5.2-2526-c_dc_helpers/include/ecrt.h --- etherlabmaster-1.5.2-2526/include/ecrt.h 2013-04-03 13:46:38.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/include/ecrt.h 2013-04-04 18:41:14.000000000 +1300 @@ -662,6 +662,20 @@ ec_master_t *master /**< EtherCAT master. */ ); +/** setup the domain's process data memory. + * + * Call this after all PDO entries have been registered and before activating + * the master. + * + * Call this if you need to access the domain memory before activating the + * master + * + * \return 0 on success, else non-zero. + */ +int ecrt_master_setup_domain_memory( + ec_master_t *master /**< EtherCAT master. */ + ); + /** Obtains a slave configuration. * * Creates a slave configuration object for the given \a alias and \a position @@ -920,6 +934,19 @@ ec_master_t *master /**< EtherCAT master. */ ); +/** Deactivates the slaves distributed clocks and sends the slaves into PREOP. + * + * This can be called prior to ecrt_master_deactivate to avoid the slaves + * getting sync errors. + * + * This method should be called in realtime context. + * + * Note: EoE slaves will not be changed to PREOP. + */ +void ecrt_master_deactivate_slaves( + ec_master_t *master /**< EtherCAT master. */ + ); + /** Deactivates the master. * * Removes the bus configuration. All objects created by diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/lib/master.c etherlabmaster-1.5.2-2526-c_dc_helpers/lib/master.c --- etherlabmaster-1.5.2-2526/lib/master.c 2013-04-03 13:46:38.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/lib/master.c 2013-04-04 19:55:32.000000000 +1300 @@ -532,6 +532,48 @@ /****************************************************************************/ +int ecrt_master_setup_domain_memory(ec_master_t *master) +{ + ec_ioctl_master_activate_t io; + int ret; + + ret = ioctl(master->fd, EC_IOCTL_SETUP_DOMAIN_MEMORY, &io); + if (EC_IOCTL_IS_ERROR(ret)) { + fprintf(stderr, "Failed to activate master: %s\n", + strerror(EC_IOCTL_ERRNO(ret))); + return -EC_IOCTL_ERRNO(ret); + } + + // will return 0 process_data_size if domain data has already been set up + if (io.process_data_size) { + master->process_data_size = io.process_data_size; + +#ifdef USE_RTDM + /* memory-mapping was already done in kernel. The user-space addess is + * provided in the ioctl data. + */ + master->process_data = io.process_data; +#else + master->process_data = mmap(0, master->process_data_size, + PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0); + if (master->process_data == MAP_FAILED) { + fprintf(stderr, "Failed to map process data: %s\n", + strerror(errno)); + master->process_data = NULL; + master->process_data_size = 0; + return -errno; + } +#endif + + // Access the mapped region to cause the initial page fault + master->process_data[0] = 0x00; + } + + return 0; +} + +/*****************************************************************************/ + int ecrt_master_activate(ec_master_t *master) { ec_ioctl_master_activate_t io; @@ -544,9 +586,10 @@ return -EC_IOCTL_ERRNO(ret); } - master->process_data_size = io.process_data_size; + // will return 0 process_data_size if domain data has already been set up + if (io.process_data_size) { + master->process_data_size = io.process_data_size; - if (master->process_data_size) { #ifdef USE_RTDM /* memory-mapping was already done in kernel. The user-space addess is * provided in the ioctl data. @@ -573,6 +616,20 @@ /****************************************************************************/ +void ecrt_master_deactivate_slaves(ec_master_t *master) +{ + int ret; + + ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE_SLAVES, NULL); + if (EC_IOCTL_IS_ERROR(ret)) { + fprintf(stderr, "Failed to deactivate slaves: %s\n", + strerror(EC_IOCTL_IS_ERROR(ret))); + return; + } +} + +/*****************************************************************************/ + void ecrt_master_deactivate(ec_master_t *master) { int ret; diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/master/fsm_master.c etherlabmaster-1.5.2-2526-c_dc_helpers/master/fsm_master.c --- etherlabmaster-1.5.2-2526/master/fsm_master.c 2013-04-03 13:46:38.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/master/fsm_master.c 2013-06-13 11:21:16.000000000 +1200 @@ -48,7 +48,7 @@ /** Time difference [ns] to tolerate without setting a new system time offset. */ -#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000 +#define EC_SYSTEM_TIME_TOLERANCE_NS 10000 /*****************************************************************************/ @@ -860,11 +860,14 @@ master->scan_busy = 0; wake_up_interruptible(&master->scan_queue); - ec_master_calc_dc(master); - // Attach slave configurations ec_master_attach_slave_configs(master); + // Set DC ref slave and clac topology and transmission delays + // Note: must come after attach_slave_configs for application + // selected dc_ref_config to return its slave + ec_master_calc_dc(master); + #ifdef EC_EOE // check if EoE processing has to be started ec_master_eoe_start(master); diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/master/ioctl.c etherlabmaster-1.5.2-2526-c_dc_helpers/master/ioctl.c --- etherlabmaster-1.5.2-2526/master/ioctl.c 2012-11-08 14:27:19.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/master/ioctl.c 2013-04-04 20:02:02.000000000 +1300 @@ -1679,11 +1679,11 @@ /*****************************************************************************/ -/** Activates the master. +/** Sets up domain memory. * * \return Zero on success, otherwise a negative error code. */ -static ATTRIBUTES int ec_ioctl_activate( +static ATTRIBUTES int ec_ioctl_setup_domain_memory( ec_master_t *master, /**< EtherCAT master. */ void *arg, /**< ioctl() argument. */ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ @@ -1697,52 +1697,145 @@ if (unlikely(!ctx->requested)) return -EPERM; - io.process_data = NULL; - /* Get the sum of the domains' process data sizes. */ + if (!ctx->process_data) + { + io.process_data = NULL; - ctx->process_data_size = 0; + /* Get the sum of the domains' process data sizes. */ - if (down_interruptible(&master->master_sem)) - return -EINTR; + ctx->process_data_size = 0; - list_for_each_entry(domain, &master->domains, list) { - ctx->process_data_size += ecrt_domain_size(domain); + if (down_interruptible(&master->master_sem)) + return -EINTR; + + list_for_each_entry(domain, &master->domains, list) { + ctx->process_data_size += ecrt_domain_size(domain); + } + + up(&master->master_sem); + + if (ctx->process_data_size) { + ctx->process_data = vmalloc(ctx->process_data_size); + if (!ctx->process_data) { + ctx->process_data_size = 0; + return -ENOMEM; + } + + /* Set the memory as external process data memory for the + * domains. + */ + offset = 0; + list_for_each_entry(domain, &master->domains, list) { + ecrt_domain_external_memory(domain, + ctx->process_data + offset); + offset += ecrt_domain_size(domain); + } + +#ifdef EC_IOCTL_RTDM + /* RTDM uses a different approach for memory-mapping, which has to be + * initiated by the kernel. + */ + ret = ec_rtdm_mmap(ctx, &io.process_data); + if (ret < 0) { + EC_MASTER_ERR(master, "Failed to map process data" + " memory to user space (code %i).\n", ret); + return ret; + } +#endif + } + + io.process_data_size = ctx->process_data_size; + } + else + { + io.process_data = NULL; + io.process_data_size = 0; } - up(&master->master_sem); - if (ctx->process_data_size) { - ctx->process_data = vmalloc(ctx->process_data_size); - if (!ctx->process_data) { - ctx->process_data_size = 0; - return -ENOMEM; - } + if (copy_to_user((void __user *) arg, &io, + sizeof(ec_ioctl_master_activate_t))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Activates the master. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_activate( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_master_activate_t io; + ec_domain_t *domain; + off_t offset; + int ret; - /* Set the memory as external process data memory for the - * domains. - */ - offset = 0; + if (unlikely(!ctx->requested)) + return -EPERM; + + + if (!ctx->process_data) + { + io.process_data = NULL; + + /* Get the sum of the domains' process data sizes. */ + + ctx->process_data_size = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + list_for_each_entry(domain, &master->domains, list) { - ecrt_domain_external_memory(domain, - ctx->process_data + offset); - offset += ecrt_domain_size(domain); + ctx->process_data_size += ecrt_domain_size(domain); } + + up(&master->master_sem); + + if (ctx->process_data_size) { + ctx->process_data = vmalloc(ctx->process_data_size); + if (!ctx->process_data) { + ctx->process_data_size = 0; + return -ENOMEM; + } + + /* Set the memory as external process data memory for the + * domains. + */ + offset = 0; + list_for_each_entry(domain, &master->domains, list) { + ecrt_domain_external_memory(domain, + ctx->process_data + offset); + offset += ecrt_domain_size(domain); + } #ifdef EC_IOCTL_RTDM - /* RTDM uses a different approach for memory-mapping, which has to be - * initiated by the kernel. - */ - ret = ec_rtdm_mmap(ctx, &io.process_data); - if (ret < 0) { - EC_MASTER_ERR(master, "Failed to map process data" - " memory to user space (code %i).\n", ret); - return ret; - } + /* RTDM uses a different approach for memory-mapping, which has to be + * initiated by the kernel. + */ + ret = ec_rtdm_mmap(ctx, &io.process_data); + if (ret < 0) { + EC_MASTER_ERR(master, "Failed to map process data" + " memory to user space (code %i).\n", ret); + return ret; + } #endif - } + } - io.process_data_size = ctx->process_data_size; + io.process_data_size = ctx->process_data_size; + } + else + { + io.process_data = NULL; + io.process_data_size = 0; + } #ifndef EC_IOCTL_RTDM ecrt_master_callbacks(master, ec_master_internal_send_cb, @@ -1762,6 +1855,25 @@ /*****************************************************************************/ +/** Deactivates the slaves. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_deactivate_slaves( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) + return -EPERM; + + ecrt_master_deactivate_slaves(master); + return 0; +} + +/*****************************************************************************/ + /** Deactivates the master. * * \return Zero on success, otherwise a negative error code. @@ -4253,6 +4365,13 @@ } ret = ec_ioctl_select_ref_clock(master, arg, ctx); break; + case EC_IOCTL_SETUP_DOMAIN_MEMORY: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_setup_domain_memory(master, arg, ctx); + break; case EC_IOCTL_ACTIVATE: if (!ctx->writable) { ret = -EPERM; @@ -4260,6 +4379,13 @@ } ret = ec_ioctl_activate(master, arg, ctx); break; + case EC_IOCTL_DEACTIVATE_SLAVES: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_deactivate_slaves(master, arg, ctx); + break; case EC_IOCTL_DEACTIVATE: if (!ctx->writable) { ret = -EPERM; diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/master/ioctl.h etherlabmaster-1.5.2-2526-c_dc_helpers/master/ioctl.h --- etherlabmaster-1.5.2-2526/master/ioctl.h 2013-04-03 13:46:38.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/master/ioctl.h 2013-04-04 19:05:27.000000000 +1300 @@ -97,7 +97,9 @@ #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f) #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t) #define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x21, uint32_t) +#define EC_IOCTL_SETUP_DOMAIN_MEMORY EC_IOR(0x60, ec_ioctl_master_activate_t) #define EC_IOCTL_ACTIVATE EC_IOR(0x22, ec_ioctl_master_activate_t) +#define EC_IOCTL_DEACTIVATE_SLAVES EC_IO(0x61) #define EC_IOCTL_DEACTIVATE EC_IO(0x23) #define EC_IOCTL_SEND EC_IO(0x24) #define EC_IOCTL_RECEIVE EC_IO(0x25) diff -Nru -X create_patch-2526-c_dc_helpers.exclude etherlabmaster-1.5.2-2526/master/master.c etherlabmaster-1.5.2-2526-c_dc_helpers/master/master.c --- etherlabmaster-1.5.2-2526/master/master.c 2013-04-03 13:46:38.000000000 +1300 +++ etherlabmaster-1.5.2-2526-c_dc_helpers/master/master.c 2013-06-13 11:45:21.000000000 +1200 @@ -2026,25 +2026,29 @@ ec_slave_t *slave, *ref = NULL; if (master->dc_ref_config) { - // Use application-selected reference clock + // Check application-selected reference clock slave = master->dc_ref_config->slave; if (slave) { if (slave->base_dc_supported && slave->has_dc_system_time) { ref = slave; + EC_MASTER_INFO(master, "Using slave %u as application selected" + " DC reference clock.\n", ref->ring_position); } else { - EC_MASTER_WARN(master, "Slave %u can not act as a" - " DC reference clock!", slave->ring_position); + EC_MASTER_WARN(master, "Application selected slave %u can not" + " act as a DC reference clock!", slave->ring_position); } } else { - EC_MASTER_WARN(master, "DC reference clock config (%u-%u)" - " has no slave attached!\n", master->dc_ref_config->alias, + EC_MASTER_WARN(master, "Application selected DC reference clock" + " config (%u-%u) has no slave attached!\n", + master->dc_ref_config->alias, master->dc_ref_config->position); } } - else { + + if (!ref) { // Use first slave with DC support as reference clock for (slave = master->slaves; slave < master->slaves + master->slave_count; @@ -2261,6 +2265,14 @@ /*****************************************************************************/ +int ecrt_master_setup_domain_memory(ec_master_t *master) +{ + // not currently supported + return -ENOMEM; // FIXME +} + +/*****************************************************************************/ + int ecrt_master_activate(ec_master_t *master) { uint32_t domain_offset; @@ -2335,6 +2347,54 @@ /*****************************************************************************/ +void ecrt_master_deactivate_slaves(ec_master_t *master) +{ + ec_slave_t *slave; + ec_slave_config_t *sc, *next; +#ifdef EC_EOE + ec_eoe_t *eoe; +#endif + + EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master); + + if (!master->active) { + EC_MASTER_WARN(master, "%s: Master not active.\n", __func__); + return; + } + + + // clear dc settings on all slaves + list_for_each_entry_safe(sc, next, &master->configs, list) { + if (sc->dc_assign_activate) { + ecrt_slave_config_dc(sc, 0x0000, 0, 0, 0, 0); + } + } + + + for (slave = master->slaves; + slave < master->slaves + master->slave_count; + slave++) { + + // set states for all slaves + ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); + + // mark for reconfiguration, because the master could have no + // possibility for a reconfiguration between two sequential operation + // phases. + slave->force_config = 1; + } + +#ifdef EC_EOE + // ... but leave EoE slaves in OP + list_for_each_entry(eoe, &master->eoe_handlers, list) { + if (ec_eoe_is_open(eoe)) + ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP); + } +#endif +} + +/*****************************************************************************/ + void ecrt_master_deactivate(ec_master_t *master) { ec_slave_t *slave; @@ -2588,18 +2648,22 @@ int ecrt_master_select_reference_clock(ec_master_t *master, ec_slave_config_t *sc) { - if (sc) { - ec_slave_t *slave = sc->slave; + master->dc_ref_config = sc; - // output an early warning - if (slave && - (!slave->base_dc_supported || !slave->has_dc_system_time)) { - EC_MASTER_WARN(master, "Slave %u can not act as" - " a reference clock!", slave->ring_position); - } + if (master->dc_ref_config) { + EC_MASTER_INFO(master, "Application selected DC reference clock" + " config (%u-%u) set by application.\n", + master->dc_ref_config->alias, + master->dc_ref_config->position); + } + else { + EC_MASTER_INFO(master, "Application selected DC reference clock" + " config cleared by application.\n"); } - master->dc_ref_config = sc; + // update dc datagrams + ec_master_find_dc_ref_clock(master); + return 0; } @@ -3226,7 +3290,9 @@ /** \cond */ EXPORT_SYMBOL(ecrt_master_create_domain); +EXPORT_SYMBOL(ecrt_master_setup_domain_memory); EXPORT_SYMBOL(ecrt_master_activate); +EXPORT_SYMBOL(ecrt_master_deactivate_slaves); EXPORT_SYMBOL(ecrt_master_deactivate); EXPORT_SYMBOL(ecrt_master_send); EXPORT_SYMBOL(ecrt_master_send_ext);