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000.patchset_optional_eoe.p0.patch
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000.patchset_optional_eoe.p0.patch
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diff -r b53d093bc4ae master/Kbuild.in
--- master/Kbuild.in Thu Feb 01 11:00:00 2018 +1200
+++ master/Kbuild.in Tue Apr 30 00:28:38 2019 +0200
@@ -40,12 +40,10 @@
datagram_pair.o \
device.o \
domain.o \
- eoe_request.o \
fmmu_config.o \
foe_request.o \
fsm_change.o \
fsm_coe.o \
- fsm_eoe.o \
fsm_foe.o \
fsm_reboot.o \
fsm_master.o \
@@ -78,6 +76,8 @@
dict_request.o
ifeq (@ENABLE_EOE@,1)
+ec_master-objs += eoe_request.o
+ec_master-objs += fsm_eoe.o
ec_master-objs += ethernet.o
endif
diff -r b53d093bc4ae master/fsm_slave.c
--- master/fsm_slave.c Thu Feb 01 11:00:00 2018 +1200
+++ master/fsm_slave.c Tue Apr 30 00:28:38 2019 +0200
@@ -61,7 +61,9 @@
int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);
void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);
int ec_fsm_slave_action_process_eoe(ec_fsm_slave_t *, ec_datagram_t *);
+#ifdef EC_EOE
void ec_fsm_slave_state_eoe_request(ec_fsm_slave_t *, ec_datagram_t *);
+#endif
/*****************************************************************************/
@@ -81,7 +83,9 @@
fsm->reg_request = NULL;
fsm->foe_request = NULL;
fsm->soe_request = NULL;
+#ifdef EC_EOE
fsm->eoe_request = NULL;
+#endif
fsm->dict_request = NULL;
ec_dict_request_init(&fsm->int_dict_request);
@@ -90,7 +94,9 @@
ec_fsm_coe_init(&fsm->fsm_coe);
ec_fsm_foe_init(&fsm->fsm_foe);
ec_fsm_soe_init(&fsm->fsm_soe);
+#ifdef EC_EOE
ec_fsm_eoe_init(&fsm->fsm_eoe);
+#endif
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
ec_fsm_change_init(&fsm->fsm_change);
ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->slave,
@@ -132,12 +138,12 @@
fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&fsm->slave->master->request_queue);
}
-
+#ifdef EC_EOE
if (fsm->eoe_request) {
fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&fsm->slave->master->request_queue);
}
-
+#endif
if (fsm->dict_request) {
fsm->dict_request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&fsm->slave->master->request_queue);
@@ -151,7 +157,9 @@
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_foe_clear(&fsm->fsm_foe);
ec_fsm_soe_clear(&fsm->fsm_soe);
+#ifdef EC_EOE
ec_fsm_eoe_clear(&fsm->fsm_eoe);
+#endif
}
/*****************************************************************************/
@@ -291,11 +299,12 @@
if (ec_fsm_slave_action_process_soe(fsm, datagram)) {
return;
}
-
+#ifdef EC_EOE
// Check for pending EoE IP parameter requests
if (ec_fsm_slave_action_process_eoe(fsm, datagram)) {
return;
}
+#endif
}
/*****************************************************************************/
@@ -1140,7 +1149,7 @@
}
/*****************************************************************************/
-
+#ifdef EC_EOE
/** Check for pending EoE IP parameter requests and process one.
*
* \return non-zero, if a request is processed.
@@ -1220,5 +1229,5 @@
fsm->eoe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
-
+#endif
/*****************************************************************************/
diff -r b53d093bc4ae master/fsm_slave.h
--- master/fsm_slave.h Thu Feb 01 11:00:00 2018 +1200
+++ master/fsm_slave.h Tue Apr 30 00:28:38 2019 +0200
@@ -46,7 +46,9 @@
#include "fsm_coe.h"
#include "fsm_foe.h"
#include "fsm_soe.h"
+#ifdef EC_EOE
#include "fsm_eoe.h"
+#endif
#include "fsm_slave_config.h"
#include "fsm_slave_scan.h"
@@ -68,13 +70,17 @@
ec_foe_request_t *foe_request; /**< FoE request to process. */
off_t foe_index; /**< Index to FoE write request data. */
ec_soe_request_t *soe_request; /**< SoE request to process. */
+#ifdef EC_EOE
ec_eoe_request_t *eoe_request; /**< SoE request to process. */
+#endif
ec_dict_request_t *dict_request; /**< Dictionary request to process. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
ec_fsm_foe_t fsm_foe; /**< FoE state machine. */
ec_fsm_soe_t fsm_soe; /**< SoE state machine. */
+#ifdef EC_EOE
ec_fsm_eoe_t fsm_eoe; /**< EoE state machine. */
+#endif
ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave scan state machine */
diff -r b53d093bc4ae master/ioctl.c
--- master/ioctl.c Thu Feb 01 11:00:00 2018 +1200
+++ master/ioctl.c Tue Apr 30 00:28:38 2019 +0200
@@ -1792,6 +1792,7 @@
/*****************************************************************************/
+#ifdef EC_EOE
/** Request EoE IP parameter setting.
*
* \return Zero on success, otherwise a negative error code.
@@ -1872,6 +1873,7 @@
return req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
}
+#endif
/*****************************************************************************/
@@ -5351,6 +5353,7 @@
case EC_IOCTL_SLAVE_SOE_READ:
ret = ec_ioctl_slave_soe_read(master, arg);
break;
+#ifdef EC_EOE
case EC_IOCTL_SLAVE_EOE_IP_PARAM:
if (!ctx->writable) {
ret = -EPERM;
@@ -5358,6 +5361,7 @@
}
ret = ec_ioctl_slave_eoe_ip_param(master, arg);
break;
+#endif
case EC_IOCTL_SLAVE_SOE_WRITE:
if (!ctx->writable) {
ret = -EPERM;
diff -r b53d093bc4ae master/ioctl.h
--- master/ioctl.h Thu Feb 01 11:00:00 2018 +1200
+++ master/ioctl.h Tue Apr 30 00:28:38 2019 +0200
@@ -83,7 +83,9 @@
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
+#ifdef EC_EOE
#define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)
+#endif
#define EC_IOCTL_CONFIG EC_IOWR(0x19, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x1a, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1b, ec_ioctl_config_pdo_entry_t)
@@ -650,6 +652,7 @@
#endif
#endif
+#ifdef EC_EOE
typedef struct {
// input
uint16_t slave_position;
@@ -672,6 +675,7 @@
uint16_t result;
} ec_ioctl_slave_eoe_ip_t;
+#endif
/*****************************************************************************/
typedef struct {
diff -r b53d093bc4ae tool/CommandIp.h
--- tool/CommandIp.h Thu Feb 01 11:00:00 2018 +1200
+++ tool/CommandIp.h Tue Apr 30 00:28:38 2019 +0200
@@ -27,6 +27,7 @@
*
****************************************************************************/
+
#ifndef __COMMANDIP_H__
#define __COMMANDIP_H__
diff -r b53d093bc4ae tool/Makefile.am
--- tool/Makefile.am Thu Feb 01 11:00:00 2018 +1200
+++ tool/Makefile.am Tue Apr 30 00:28:38 2019 +0200
@@ -50,7 +50,6 @@
CommandFoeRead.cpp \
CommandFoeWrite.cpp \
CommandGraph.cpp \
- CommandIp.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
CommandRegRead.cpp \
@@ -80,11 +79,13 @@
if ENABLE_EOE
ethercat_SOURCES += CommandEoe.cpp \
CommandEoeAddIf.cpp \
- CommandEoeDelIf.cpp
+ CommandEoeDelIf.cpp \
+ CommandIp.cpp
else
EXTRA_DIST += CommandEoe.cpp \
CommandEoeAddIf.cpp \
- CommandEoeDelIf.cpp
+ CommandEoeDelIf.cpp \
+ CommandIp.cpp
endif
noinst_HEADERS = \
@@ -101,7 +102,6 @@
CommandFoeRead.h \
CommandFoeWrite.h \
CommandGraph.h \
- CommandIp.h \
CommandMaster.h \
CommandPdos.h \
CommandRegRead.h \
@@ -130,11 +130,13 @@
if ENABLE_EOE
noinst_HEADERS += CommandEoe.h \
CommandEoeAddIf.h \
- CommandEoeDelIf.h
+ CommandEoeDelIf.h \
+ CommandIp.h
else
EXTRA_DIST += CommandEoe.h \
CommandEoeAddIf.h \
- CommandEoeDelIf.h
+ CommandEoeDelIf.h \
+ CommandIp.h
endif
REV = `if test -s $(top_srcdir)/revision; then \
diff -r b53d093bc4ae tool/MasterDevice.cpp
--- tool/MasterDevice.cpp Thu Feb 01 11:00:00 2018 +1200
+++ tool/MasterDevice.cpp Tue Apr 30 00:28:38 2019 +0200
@@ -685,6 +685,7 @@
/****************************************************************************/
+#ifdef EC_EOE
void MasterDevice::setIpParam(ec_ioctl_slave_eoe_ip_t *data)
{
if (ioctl(fd, EC_IOCTL_SLAVE_EOE_IP_PARAM, data) < 0) {
@@ -697,5 +698,6 @@
}
}
}
+#endif
/*****************************************************************************/
diff -r b53d093bc4ae tool/MasterDevice.h
--- tool/MasterDevice.h Thu Feb 01 11:00:00 2018 +1200
+++ tool/MasterDevice.h Tue Apr 30 00:28:38 2019 +0200
@@ -93,7 +93,7 @@
};
/****************************************************************************/
-
+#ifdef EC_EOE
class MasterDeviceEoeException:
public MasterDeviceException
{
@@ -108,7 +108,7 @@
MasterDeviceException("EoE set IP parameter failed."),
result(result) {};
};
-
+#endif
/****************************************************************************/
class MasterDevice
@@ -167,8 +167,9 @@
void readSoe(ec_ioctl_slave_soe_read_t *);
void writeSoe(ec_ioctl_slave_soe_write_t *);
void dictUpload(ec_ioctl_slave_dict_upload_t *);
+#ifdef EC_EOE
void setIpParam(ec_ioctl_slave_eoe_ip_t *);
-
+#endif
unsigned int getMasterCount() const {return masterCount;}
private:
diff -r b53d093bc4ae tool/main.cpp
--- tool/main.cpp Thu Feb 01 11:00:00 2018 +1200
+++ tool/main.cpp Tue Apr 30 00:28:38 2019 +0200
@@ -48,11 +48,11 @@
#include "CommandEoe.h"
#include "CommandEoeAddIf.h"
#include "CommandEoeDelIf.h"
+#include "CommandIp.h"
#endif
#include "CommandFoeRead.h"
#include "CommandFoeWrite.h"
#include "CommandGraph.h"
-#include "CommandIp.h"
#include "CommandMaster.h"
#include "CommandPdos.h"
#include "CommandRegRead.h"
@@ -311,11 +311,11 @@
commandList.push_back(new CommandEoe());
commandList.push_back(new CommandEoeAddIf());
commandList.push_back(new CommandEoeDelIf());
+ commandList.push_back(new CommandIp());
#endif
commandList.push_back(new CommandFoeRead());
commandList.push_back(new CommandFoeWrite());
commandList.push_back(new CommandGraph());
- commandList.push_back(new CommandIp());
commandList.push_back(new CommandMaster());
commandList.push_back(new CommandPdos());
commandList.push_back(new CommandRegRead());