EtherCAT master. More...

#include <master.h>

Data Fields
unsigned int	index
	Index.
unsigned int	reserved
	True, if the master is in use.
ec_cdev_t	cdev
	Master character device.
struct device *	class_device
	Master class device.
struct semaphore	master_sem
	Master semaphore.
ec_device_t	devices [EC_MAX_NUM_DEVICES]
	EtherCAT devices.
const uint8_t *	macs [EC_MAX_NUM_DEVICES]
	Device MAC addresses.
struct semaphore	device_sem
	Device semaphore.
ec_device_stats_t	device_stats
	Device statistics.
ec_fsm_master_t	fsm
	Master state machine.
ec_datagram_t	fsm_datagram
	Datagram used for state machines.
ec_master_phase_t	phase
	Master phase.
unsigned int	active
	Master has been activated.
unsigned int	config_changed
	The configuration changed.
unsigned int	injection_seq_fsm
	Datagram injection sequence number for the FSM side.
unsigned int	injection_seq_rt
	Datagram injection sequence number for the realtime side.
ec_slave_t *	slaves
	Array of slaves on the bus.
unsigned int	slave_count
	Number of slaves on the bus.
struct list_head	configs
	List of slave configurations.
struct list_head	domains
	List of domains.
u64	app_time
	Time of the last ecrt_master_sync() call.
u64	dc_ref_time
	Common reference timestamp for DC start times.
ec_datagram_t	ref_sync_datagram
	Datagram used for synchronizing the reference clock to the master clock.
ec_datagram_t	sync_datagram
	Datagram used for DC drift compensation.
ec_datagram_t	sync_mon_datagram
	Datagram used for DC synchronisation monitoring.
ec_slave_config_t *	dc_ref_config
	Application-selected DC reference clock slave config.
ec_slave_t *	dc_ref_clock
	DC reference clock slave.
unsigned int	scan_busy
	Current scan state.
unsigned int	scan_index
	Index of slave currently scanned.
unsigned int	allow_scan
	True, if slave scanning is allowed.
struct semaphore	scan_sem
	Semaphore protecting the scan_busy variable and the allow_scan flag.
wait_queue_head_t	scan_queue
	Queue for processes that wait for slave scanning.
unsigned int	config_busy
	State of slave configuration.
struct semaphore	config_sem
	Semaphore protecting the config_busy variable and the allow_config flag.
wait_queue_head_t	config_queue
	Queue for processes that wait for slave configuration.
struct list_head	datagram_queue
	Datagram queue.
uint8_t	datagram_index
	Current datagram index.
struct list_head	ext_datagram_queue
	Queue for non-application datagrams.
struct semaphore	ext_queue_sem
	Semaphore protecting the ext_datagram_queue.
ec_datagram_t	ext_datagram_ring [EC_EXT_RING_SIZE]
	External datagram ring.
unsigned int	ext_ring_idx_rt
	Index in external datagram ring for RT side.
unsigned int	ext_ring_idx_fsm
	Index in external datagram ring for FSM side.
unsigned int	send_interval
	Interval between two calls to ecrt_master_send().
size_t	max_queue_size
	Maximum size of datagram queue.
ec_slave_t *	fsm_slave
	Slave that is queried next for FSM exec.
struct list_head	fsm_exec_list
	Slave FSM execution list.
unsigned int	fsm_exec_count
	Number of entries in execution list.
unsigned int	debug_level
	Master debug level.
unsigned int	run_on_cpu
	bind kernel threads to this cpu
ec_stats_t	stats
	Cyclic statistics.
struct task_struct *	thread
	Master thread.
struct task_struct *	eoe_thread
	EoE thread.
struct list_head	eoe_handlers
	Ethernet over EtherCAT handlers.
struct rt_mutex	io_mutex
	Mutex used in IDLE and OP phase.
void(*	send_cb )(void *)
	Current send datagrams callback.
void(*	receive_cb )(void *)
	Current receive datagrams callback.
void *	cb_data
	Current callback data.
void(*	app_send_cb )(void *)
	Application's send datagrams callback.
void(*	app_receive_cb )(void *)
	Application's receive datagrams callback.
void *	app_cb_data
	Application callback data.
struct list_head	sii_requests
	SII write requests.
struct list_head	emerg_reg_requests
	Emergency register access requests.
wait_queue_head_t	request_queue
	Wait queue for external requests from user space.
struct work_struct	sc_reset_work
	Task to reset slave configuration.
struct irq_work	sc_reset_work_kicker
	NMI-Safe kicker to trigger reset task above.

Detailed Description

EtherCAT master.

Manages slaves, domains and IO.

Definition at line 187 of file master.h.

Field Documentation

◆ index

unsigned int ec_master::index

Index.

Definition at line 188 of file master.h.

◆ reserved

unsigned int ec_master::reserved

True, if the master is in use.

Definition at line 189 of file master.h.

◆ cdev

ec_cdev_t ec_master::cdev

Master character device.

Definition at line 191 of file master.h.

◆ class_device

struct device* ec_master::class_device

Master class device.

Definition at line 192 of file master.h.

◆ master_sem

struct semaphore ec_master::master_sem

Master semaphore.

Definition at line 198 of file master.h.

◆ devices

ec_device_t ec_master::devices[EC_MAX_NUM_DEVICES]

EtherCAT devices.

Definition at line 200 of file master.h.

◆ macs

const uint8_t* ec_master::macs[EC_MAX_NUM_DEVICES]

Device MAC addresses.

Definition at line 201 of file master.h.

◆ device_sem

struct semaphore ec_master::device_sem

Device semaphore.

Definition at line 207 of file master.h.

◆ device_stats

ec_device_stats_t ec_master::device_stats

Device statistics.

Definition at line 208 of file master.h.

◆ fsm

ec_fsm_master_t ec_master::fsm

Master state machine.

Definition at line 210 of file master.h.

◆ fsm_datagram

ec_datagram_t ec_master::fsm_datagram

Datagram used for state machines.

Definition at line 211 of file master.h.

◆ phase

ec_master_phase_t ec_master::phase

Master phase.

Definition at line 212 of file master.h.

◆ active

unsigned int ec_master::active

Master has been activated.

Definition at line 213 of file master.h.

◆ config_changed

unsigned int ec_master::config_changed

The configuration changed.

Definition at line 214 of file master.h.

◆ injection_seq_fsm

unsigned int ec_master::injection_seq_fsm

Datagram injection sequence number for the FSM side.

Definition at line 215 of file master.h.

◆ injection_seq_rt

unsigned int ec_master::injection_seq_rt

Datagram injection sequence number for the realtime side.

Definition at line 217 of file master.h.

◆ slaves

ec_slave_t* ec_master::slaves

Array of slaves on the bus.

Definition at line 220 of file master.h.

◆ slave_count

unsigned int ec_master::slave_count

Number of slaves on the bus.

Definition at line 221 of file master.h.

◆ configs

struct list_head ec_master::configs

List of slave configurations.

Definition at line 224 of file master.h.

◆ domains

struct list_head ec_master::domains

List of domains.

Definition at line 225 of file master.h.

◆ app_time

u64 ec_master::app_time

Time of the last ecrt_master_sync() call.

Definition at line 227 of file master.h.

◆ dc_ref_time

u64 ec_master::dc_ref_time

Common reference timestamp for DC start times.

Definition at line 228 of file master.h.

◆ ref_sync_datagram

ec_datagram_t ec_master::ref_sync_datagram

Datagram used for synchronizing the reference clock to the master clock.

Definition at line 229 of file master.h.

◆ sync_datagram

ec_datagram_t ec_master::sync_datagram

Datagram used for DC drift compensation.

Definition at line 231 of file master.h.

◆ sync_mon_datagram

ec_datagram_t ec_master::sync_mon_datagram

Datagram used for DC synchronisation monitoring.

Definition at line 233 of file master.h.

◆ dc_ref_config

ec_slave_config_t* ec_master::dc_ref_config

Application-selected DC reference clock slave config.

Definition at line 235 of file master.h.

◆ dc_ref_clock

ec_slave_t* ec_master::dc_ref_clock

DC reference clock slave.

Definition at line 237 of file master.h.

◆ scan_busy

unsigned int ec_master::scan_busy

Current scan state.

Definition at line 239 of file master.h.

◆ scan_index

unsigned int ec_master::scan_index

Index of slave currently scanned.

Definition at line 240 of file master.h.

◆ allow_scan

unsigned int ec_master::allow_scan

True, if slave scanning is allowed.

Definition at line 241 of file master.h.

◆ scan_sem

struct semaphore ec_master::scan_sem

Semaphore protecting the scan_busy variable and the allow_scan flag.

Definition at line 242 of file master.h.

◆ scan_queue

wait_queue_head_t ec_master::scan_queue

Queue for processes that wait for slave scanning.

Definition at line 244 of file master.h.

◆ config_busy

unsigned int ec_master::config_busy

State of slave configuration.

Definition at line 247 of file master.h.

◆ config_sem

struct semaphore ec_master::config_sem

Semaphore protecting the config_busy variable and the allow_config flag.

Definition at line 248 of file master.h.

◆ config_queue

wait_queue_head_t ec_master::config_queue

Queue for processes that wait for slave configuration.

Definition at line 250 of file master.h.

◆ datagram_queue

struct list_head ec_master::datagram_queue

Datagram queue.

Definition at line 253 of file master.h.

◆ datagram_index

uint8_t ec_master::datagram_index

Current datagram index.

Definition at line 254 of file master.h.

◆ ext_datagram_queue

struct list_head ec_master::ext_datagram_queue

Queue for non-application datagrams.

Definition at line 256 of file master.h.

◆ ext_queue_sem

struct semaphore ec_master::ext_queue_sem

Semaphore protecting the ext_datagram_queue.

Definition at line 258 of file master.h.

◆ ext_datagram_ring

ec_datagram_t ec_master::ext_datagram_ring[EC_EXT_RING_SIZE]

External datagram ring.

Definition at line 261 of file master.h.

◆ ext_ring_idx_rt

unsigned int ec_master::ext_ring_idx_rt

Index in external datagram ring for RT side.

Definition at line 263 of file master.h.

◆ ext_ring_idx_fsm

unsigned int ec_master::ext_ring_idx_fsm

Index in external datagram ring for FSM side.

Definition at line 265 of file master.h.

◆ send_interval

unsigned int ec_master::send_interval

Interval between two calls to ecrt_master_send().

Definition at line 267 of file master.h.

◆ max_queue_size

size_t ec_master::max_queue_size

Maximum size of datagram queue.

Definition at line 269 of file master.h.

◆ fsm_slave

ec_slave_t* ec_master::fsm_slave

Slave that is queried next for FSM exec.

Definition at line 271 of file master.h.

◆ fsm_exec_list

struct list_head ec_master::fsm_exec_list

Slave FSM execution list.

Definition at line 272 of file master.h.

◆ fsm_exec_count

unsigned int ec_master::fsm_exec_count

Number of entries in execution list.

Definition at line 273 of file master.h.

◆ debug_level

unsigned int ec_master::debug_level

Master debug level.

Definition at line 275 of file master.h.

◆ run_on_cpu

unsigned int ec_master::run_on_cpu

bind kernel threads to this cpu

Definition at line 276 of file master.h.

◆ stats

ec_stats_t ec_master::stats

Cyclic statistics.

Definition at line 277 of file master.h.

◆ thread

struct task_struct* ec_master::thread

Master thread.

Definition at line 279 of file master.h.

◆ eoe_thread

struct task_struct* ec_master::eoe_thread

EoE thread.

Definition at line 282 of file master.h.

◆ eoe_handlers

struct list_head ec_master::eoe_handlers

Ethernet over EtherCAT handlers.

Definition at line 283 of file master.h.

◆ io_mutex

struct rt_mutex ec_master::io_mutex

Mutex used in IDLE and OP phase.

Definition at line 286 of file master.h.

◆ send_cb

void(* ec_master::send_cb) (void *)

Current send datagrams callback.

Definition at line 288 of file master.h.

◆ receive_cb

void(* ec_master::receive_cb) (void *)

Current receive datagrams callback.

Definition at line 289 of file master.h.

◆ cb_data

void* ec_master::cb_data

Current callback data.

Definition at line 290 of file master.h.

◆ app_send_cb

void(* ec_master::app_send_cb) (void *)

Application's send datagrams callback.

Definition at line 291 of file master.h.

◆ app_receive_cb

void(* ec_master::app_receive_cb) (void *)

Application's receive datagrams callback.

Definition at line 293 of file master.h.

◆ app_cb_data

void* ec_master::app_cb_data

Application callback data.

Definition at line 295 of file master.h.

◆ sii_requests

struct list_head ec_master::sii_requests

SII write requests.

Definition at line 297 of file master.h.

◆ emerg_reg_requests

struct list_head ec_master::emerg_reg_requests

Emergency register access requests.

Definition at line 298 of file master.h.

◆ request_queue

wait_queue_head_t ec_master::request_queue

Wait queue for external requests from user space.

Definition at line 301 of file master.h.

◆ sc_reset_work

struct work_struct ec_master::sc_reset_work

Task to reset slave configuration.

Definition at line 303 of file master.h.

◆ sc_reset_work_kicker

struct irq_work ec_master::sc_reset_work_kicker

NMI-Safe kicker to trigger reset task above.

Definition at line 304 of file master.h.

Data Fields