EtherCAT master structure. More...

Data Structures
struct	ec_stats_t
	Cyclic statistics. More...
struct	ec_device_stats_t
	Device statistics. More...
struct	ec_master
	EtherCAT master. More...

Macros
#define	EC_MASTER_INFO(master, fmt, args...)
	Convenience macro for printing master-specific information to syslog.
#define	EC_MASTER_ERR(master, fmt, args...)
	Convenience macro for printing master-specific errors to syslog.
#define	EC_MASTER_WARN(master, fmt, args...)
	Convenience macro for printing master-specific warnings to syslog.
#define	EC_MASTER_DBG(master, level, fmt, args...)
	Convenience macro for printing master-specific debug messages to syslog.
#define	EC_EXT_RING_SIZE 32
	Size of the external datagram ring.
#define	EC_MAX_MASTERS 32
	Maximum number of masters.
#define	ec_master_num_devices(MASTER)
	Number of Ethernet devices.

Enumerations
enum	ec_master_phase_t { EC_ORPHANED , EC_IDLE , EC_OPERATION }
	EtherCAT master phase. More...

Functions
void	ec_master_init_static (void)
	Static variables initializer.
int	ec_master_init (ec_master_t , unsigned int, const uint8_t , const uint8_t , dev_t, struct class , unsigned int, unsigned int)
	Master constructor.
void	ec_master_clear (ec_master_t *)
	Destructor.
int	ec_master_enter_idle_phase (ec_master_t *)
	Transition function from ORPHANED to IDLE phase.
void	ec_master_leave_idle_phase (ec_master_t *)
	Transition function from IDLE to ORPHANED phase.
int	ec_master_enter_operation_phase (ec_master_t *)
	Transition function from IDLE to OPERATION phase.
void	ec_master_leave_operation_phase (ec_master_t *)
	Transition function from OPERATION to IDLE phase.
void	ec_master_eoe_start (ec_master_t *)
	Starts Ethernet over EtherCAT processing on demand.
void	ec_master_eoe_stop (ec_master_t *)
	Stops the Ethernet over EtherCAT processing.
void	ec_master_receive_datagrams (ec_master_t , ec_device_t , const uint8_t *, size_t)
	Processes a received frame.
void	ec_master_queue_datagram (ec_master_t , ec_datagram_t )
	Places a datagram in the datagram queue.
void	ec_master_queue_datagram_ext (ec_master_t , ec_datagram_t )
	Places a datagram in the non-application datagram queue.
void	ec_master_set_send_interval (ec_master_t *, unsigned int)
	Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.
void	ec_master_attach_slave_configs (ec_master_t *)
	Attaches the slave configurations to the slaves.
ec_slave_t *	ec_master_find_slave (ec_master_t *, uint16_t, uint16_t)
	Finds a slave in the bus, given the alias and position.
const ec_slave_t *	ec_master_find_slave_const (const ec_master_t *, uint16_t, uint16_t)
	Finds a slave in the bus, given the alias and position.
void	ec_master_output_stats (ec_master_t *)
	Output master statistics.
void	ec_master_clear_eoe_handlers (ec_master_t *)
	Clear and free all EoE handlers.
void	ec_master_clear_slaves (ec_master_t *)
	Clear all slaves.
unsigned int	ec_master_config_count (const ec_master_t *)
	Get the number of slave configurations provided by the application.
ec_slave_config_t *	ec_master_get_config (const ec_master_t *, unsigned int)
	Get a slave configuration via its position in the list.
const ec_slave_config_t *	ec_master_get_config_const (const ec_master_t *, unsigned int)
	Get a slave configuration via its position in the list.
unsigned int	ec_master_domain_count (const ec_master_t *)
	Get the number of domains.
ec_domain_t *	ec_master_find_domain (ec_master_t *, unsigned int)
	Get a domain via its position in the list.
const ec_domain_t *	ec_master_find_domain_const (const ec_master_t *, unsigned int)
	Get a domain via its position in the list.
uint16_t	ec_master_eoe_handler_count (const ec_master_t *)
	Get the number of EoE handlers.
const ec_eoe_t *	ec_master_get_eoe_handler_const (const ec_master_t *, uint16_t)
	Get an EoE handler via its position in the list.
int	ec_master_debug_level (ec_master_t *, unsigned int)
	Set the debug level.
ec_domain_t *	ecrt_master_create_domain_err (ec_master_t *)
	Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
ec_slave_config_t *	ecrt_master_slave_config_err (ec_master_t *, uint16_t, uint16_t, uint32_t, uint32_t)
	Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
void	ec_master_calc_dc (ec_master_t *)
	Distributed-clocks calculations.
void	ec_master_request_op (ec_master_t *)
	Request OP state for configured slaves.
void	ec_master_internal_send_cb (void *)
	Internal sending callback.
void	ec_master_internal_receive_cb (void *)
	Internal receiving callback.

Variables
const unsigned int	rate_intervals [EC_RATE_COUNT]
	List of intervals for statistics [s].

Detailed Description

EtherCAT master structure.

Definition in file master.h.

Macro Definition Documentation

◆ EC_MASTER_INFO

#define EC_MASTER_INFO	(	master,
		fmt,
		args... )

Value:

printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific information to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters

master	EtherCAT master
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 62 of file master.h.

◆ EC_MASTER_ERR

#define EC_MASTER_ERR	(	master,
		fmt,
		args... )

Value:

printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific errors to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters

master	EtherCAT master
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 74 of file master.h.

◆ EC_MASTER_WARN

#define EC_MASTER_WARN	(	master,
		fmt,
		args... )

Value:

printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

Convenience macro for printing master-specific warnings to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters

master	EtherCAT master
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 86 of file master.h.

◆ EC_MASTER_DBG

#define EC_MASTER_DBG	(	master,
		level,
		fmt,
		args... )

Value:

do { \
    if (master->debug_level >= level) { \
        printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
                master->index, ##args); \
    } \
} while (0)

Convenience macro for printing master-specific debug messages to syslog.

This will print the message in fmt with a prefixed "EtherCAT <INDEX>: ", where INDEX is the master index.

Parameters

master	EtherCAT master
level	Debug level. Master's debug level must be >= level for output.
fmt	format string (like in printf())
args	arguments (optional)

Definition at line 100 of file master.h.

◆ EC_EXT_RING_SIZE

#define EC_EXT_RING_SIZE 32

Size of the external datagram ring.

The external datagram ring is used for slave FSMs.

Definition at line 113 of file master.h.

◆ EC_MAX_MASTERS

#define EC_MAX_MASTERS 32

Maximum number of masters.

Definition at line 117 of file master.h.

◆ ec_master_num_devices

#define ec_master_num_devices ( MASTER )

Value:

1

Number of Ethernet devices.

Definition at line 323 of file master.h.

Enumeration Type Documentation

◆ ec_master_phase_t

enum ec_master_phase_t

EtherCAT master phase.

Enumerator

EC_ORPHANED

Orphaned phase.

The master has no Ethernet device attached.

EC_IDLE

Idle phase.

An Ethernet device is attached, but the master is not in use, yet.

EC_OPERATION

Operation phase.

The master was requested by a realtime application.

Definition at line 123 of file master.h.

Function Documentation

◆ ec_master_init_static()

void ec_master_init_static ( void )

Static variables initializer.

Definition at line 154 of file master.c.

◆ ec_master_init()

int ec_master_init	(	ec_master_t *	master,
		unsigned int	index,
		const uint8_t *	main_mac,
		const uint8_t *	backup_mac,
		dev_t	device_number,
		struct class *	class,
		unsigned int	debug_level,
		unsigned int	run_on_cpu )

Master constructor.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
index	master index
main_mac	MAC address of main device
backup_mac	MAC address of backup device
device_number	Character device number.
class	Device class.
debug_level	Debug level (module parameter).
run_on_cpu	bind created kernel threads to a cpu

Definition at line 175 of file master.c.

◆ ec_master_clear()

void ec_master_clear ( ec_master_t * master )

Destructor.

Parameters

master EtherCAT master

Definition at line 415 of file master.c.

◆ ec_master_enter_idle_phase()

int ec_master_enter_idle_phase ( ec_master_t * master )

Transition function from ORPHANED to IDLE phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 662 of file master.c.

◆ ec_master_leave_idle_phase()

void ec_master_leave_idle_phase ( ec_master_t * master )

Transition function from IDLE to ORPHANED phase.

Parameters

master EtherCAT master

Definition at line 695 of file master.c.

◆ ec_master_enter_operation_phase()

int ec_master_enter_operation_phase ( ec_master_t * master )

Transition function from IDLE to OPERATION phase.

Returns: Zero on success, otherwise a negative error code.

Parameters

master EtherCAT master

Definition at line 719 of file master.c.

◆ ec_master_leave_operation_phase()

void ec_master_leave_operation_phase ( ec_master_t * master )

Transition function from OPERATION to IDLE phase.

Parameters

master EtherCAT master

Definition at line 790 of file master.c.

◆ ec_master_eoe_start()

void ec_master_eoe_start ( ec_master_t * master )

Starts Ethernet over EtherCAT processing on demand.

Parameters

master EtherCAT master

Definition at line 1690 of file master.c.

◆ ec_master_eoe_stop()

void ec_master_eoe_stop ( ec_master_t * master )

Stops the Ethernet over EtherCAT processing.

Parameters

master EtherCAT master

Definition at line 1724 of file master.c.

◆ ec_master_receive_datagrams()

void ec_master_receive_datagrams	(	ec_master_t *	master,
		ec_device_t *	device,
		const uint8_t *	frame_data,
		size_t	size )

Processes a received frame.

This function is called by the network driver for every received frame.

Returns: 0 in case of success, else < 0

Parameters

master	EtherCAT master
device	EtherCAT device
frame_data	frame data
size	size of the received data

Definition at line 1147 of file master.c.

◆ ec_master_queue_datagram()

void ec_master_queue_datagram	(	ec_master_t *	master,
		ec_datagram_t *	datagram )

Places a datagram in the datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 962 of file master.c.

◆ ec_master_queue_datagram_ext()

void ec_master_queue_datagram_ext	(	ec_master_t *	master,
		ec_datagram_t *	datagram )

Places a datagram in the non-application datagram queue.

Parameters

master	EtherCAT master
datagram	datagram

Definition at line 995 of file master.c.

◆ ec_master_set_send_interval()

void ec_master_set_send_interval	(	ec_master_t *	master,
		unsigned int	send_interval )

Sets the expected interval between calls to ecrt_master_send and calculates the maximum amount of data to queue.

Parameters

master	EtherCAT master
send_interval	Send interval

Definition at line 926 of file master.c.

◆ ec_master_attach_slave_configs()

void ec_master_attach_slave_configs ( ec_master_t * master )

Attaches the slave configurations to the slaves.

Parameters

master EtherCAT master.

Definition at line 1802 of file master.c.

◆ ec_master_find_slave()

ec_slave_t * ec_master_find_slave	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position )

Finds a slave in the bus, given the alias and position.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1842 of file master.c.

◆ ec_master_find_slave_const()

const ec_slave_t * ec_master_find_slave_const	(	const ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position )

Finds a slave in the bus, given the alias and position.

Const version.

Returns: Search result, or NULL.

Parameters

master	EtherCAT master.
alias	Slave alias.
position	Slave position.

Definition at line 1858 of file master.c.

◆ ec_master_output_stats()

void ec_master_output_stats ( ec_master_t * master )

Output master statistics.

This function outputs statistical data on demand, but not more often than necessary. The output happens at most once a second.

Parameters

master EtherCAT master

Definition at line 1285 of file master.c.

◆ ec_master_clear_eoe_handlers()

void ec_master_clear_eoe_handlers ( ec_master_t * master )

Clear and free all EoE handlers.

Parameters

master EtherCAT master

Definition at line 461 of file master.c.

◆ ec_master_clear_slaves()

void ec_master_clear_slaves ( ec_master_t * master )

Clear all slaves.

Definition at line 497 of file master.c.

◆ ec_master_config_count()

unsigned int ec_master_config_count ( const ec_master_t * master )

Get the number of slave configurations provided by the application.

Returns: Number of configurations.

Parameters

master EtherCAT master.

Definition at line 1874 of file master.c.

◆ ec_master_get_config()

ec_slave_config_t * ec_master_get_config	(	const ec_master_t *	master,
		unsigned int	pos )

Get a slave configuration via its position in the list.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 1907 of file master.c.

◆ ec_master_get_config_const()

const ec_slave_config_t * ec_master_get_config_const	(	const ec_master_t *	master,
		unsigned int	pos )

Get a slave configuration via its position in the list.

Const version.

Returns: Slave configuration or NULL.

Parameters

master	EtherCAT master.
pos	List position.

Definition at line 1922 of file master.c.

◆ ec_master_domain_count()

unsigned int ec_master_domain_count ( const ec_master_t * master )

Get the number of domains.

Returns: Number of domains.

Parameters

master EtherCAT master.

Definition at line 1937 of file master.c.

◆ ec_master_find_domain()

ec_domain_t * ec_master_find_domain	(	ec_master_t *	master,
		unsigned int	index )

Get a domain via its position in the list.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 1971 of file master.c.

◆ ec_master_find_domain_const()

const ec_domain_t * ec_master_find_domain_const	(	const ec_master_t *	master,
		unsigned int	index )

Get a domain via its position in the list.

Const version.

Returns: Domain pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	Domain index.

Definition at line 1986 of file master.c.

◆ ec_master_eoe_handler_count()

uint16_t ec_master_eoe_handler_count ( const ec_master_t * master )

Get the number of EoE handlers.

Returns: Number of EoE handlers.

Parameters

master EtherCAT master.

Definition at line 2003 of file master.c.

◆ ec_master_get_eoe_handler_const()

const ec_eoe_t * ec_master_get_eoe_handler_const	(	const ec_master_t *	master,
		uint16_t	index )

Get an EoE handler via its position in the list.

Const version.

Returns: EoE handler pointer, or NULL if not found.

Parameters

master	EtherCAT master.
index	EoE handler index.

Definition at line 2025 of file master.c.

◆ ec_master_debug_level()

int ec_master_debug_level	(	ec_master_t *	master,
		unsigned int	level )

Set the debug level.

Return values

0	Success.
-EINVAL	Invalid debug level.

Parameters

master	EtherCAT master.
level	Debug level. May be 0, 1 or 2.

Definition at line 2050 of file master.c.

◆ ecrt_master_create_domain_err()

ec_domain_t * ecrt_master_create_domain_err ( ec_master_t * master )

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

Returns: New domain, or ERR_PTR() return value.

Parameters

master master

Definition at line 2268 of file master.c.

◆ ecrt_master_slave_config_err()

ec_slave_config_t * ecrt_master_slave_config_err	(	ec_master_t *	master,
		uint16_t	alias,
		uint16_t	position,
		uint32_t	vendor_id,
		uint32_t	product_code )

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

Definition at line 2582 of file master.c.

◆ ec_master_calc_dc()

void ec_master_calc_dc ( ec_master_t * master )

Distributed-clocks calculations.

Parameters

master EtherCAT master.

Definition at line 2217 of file master.c.

◆ ec_master_request_op()

void ec_master_request_op ( ec_master_t * master )

Request OP state for configured slaves.

Parameters

master EtherCAT master.

Definition at line 2234 of file master.c.

◆ ec_master_internal_send_cb()

void ec_master_internal_send_cb ( void * cb_data )

Internal sending callback.

Parameters

cb_data Callback data.

Definition at line 568 of file master.c.

◆ ec_master_internal_receive_cb()

void ec_master_internal_receive_cb ( void * cb_data )

Internal receiving callback.

Parameters

cb_data Callback data.

Definition at line 583 of file master.c.

Variable Documentation

◆ rate_intervals

const unsigned int rate_intervals[EC_RATE_COUNT]

extern

List of intervals for statistics [s].

Definition at line 120 of file master.c.

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_MASTER_INFO

◆ EC_MASTER_ERR

◆ EC_MASTER_WARN

◆ EC_MASTER_DBG

◆ EC_EXT_RING_SIZE

◆ EC_MAX_MASTERS

◆ ec_master_num_devices

Enumeration Type Documentation

◆ ec_master_phase_t

Function Documentation

◆ ec_master_init_static()

◆ ec_master_init()

◆ ec_master_clear()

◆ ec_master_enter_idle_phase()

◆ ec_master_leave_idle_phase()

◆ ec_master_enter_operation_phase()

◆ ec_master_leave_operation_phase()

◆ ec_master_eoe_start()

◆ ec_master_eoe_stop()

◆ ec_master_receive_datagrams()

◆ ec_master_queue_datagram()

◆ ec_master_queue_datagram_ext()

◆ ec_master_set_send_interval()

◆ ec_master_attach_slave_configs()

◆ ec_master_find_slave()

◆ ec_master_find_slave_const()

◆ ec_master_output_stats()

◆ ec_master_clear_eoe_handlers()

◆ ec_master_clear_slaves()

◆ ec_master_config_count()

◆ ec_master_get_config()

◆ ec_master_get_config_const()

◆ ec_master_domain_count()

◆ ec_master_find_domain()

◆ ec_master_find_domain_const()

◆ ec_master_eoe_handler_count()

◆ ec_master_get_eoe_handler_const()

◆ ec_master_debug_level()

◆ ecrt_master_create_domain_err()

◆ ecrt_master_slave_config_err()

◆ ec_master_calc_dc()

◆ ec_master_request_op()

◆ ec_master_internal_send_cb()

◆ ec_master_internal_receive_cb()

Variable Documentation

◆ rate_intervals