Merge branch 'devel-1.6' into prepare-1.6

.gitlab-ci.yml

@@ -15,6 +15,12 @@ build:
         - ./configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --enable-tty --with-devices=2 --enable-ccat
         - make -j8 all modules
         - make DISTCHECK_CONFIGURE_FLAGS="--with-linux-dir=/usr/src/linux-obj/$(uname -i)/default" distcheck
+        - make dist
+        - mkdir test_dist && cd test_dist && tar xzf ../ethercat-*.tar.gz && cd ethercat-*/
+        - mkdir build && cd build
+        - ../configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --disable-8139too --enable-tty --with-devices=2 --enable-ccat
+        - make -j8 all modules
+
 
 # Build ethercat tool subcommand help output for documentation
 commands:

Makefile.kbuild

@@ -3,7 +3,7 @@
 # ```
 # include $(top_srcdir)/Makefile.kbuild
 # ```
-KBUILD = $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="$(abs_srcdir)" INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)"
+KBUILD = $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="$(abs_builddir)" INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)"
 
 
 modules:

devices/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 REV := $(shell if test -s $(src)/../revision; then \
 		cat $(src)/../revision; \
 	else \

devices/ccat/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 TOPDIR := $(src)/../..
 
 ifeq (@ENABLE_CCAT@,1)

devices/ccat/Makefile.am

@@ -23,8 +23,14 @@
 include $(top_srcdir)/Makefile.kbuild
 
 EXTRA_DIST = \
+	gpio.c \
+	module.c \
 	module.h \
+	netdev.c \
 	netdev.h \
-	update.h
+	sram.c \
+	update.h \
+	update.c
+
 
 #------------------------------------------------------------------------------

devices/e1000/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 TOPDIR := $(src)/../..
 
 REV := $(shell if test -s $(TOPDIR)/revision; then \

devices/e1000e/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 TOPDIR := $(src)/../..
 
 REV := $(shell if test -s $(TOPDIR)/revision; then \

devices/igb/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 TOPDIR := $(src)/../..
 
 REV := $(shell if test -s $(TOPDIR)/revision; then \

examples/dc_rtai/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 obj-m := ec_dc_rtai_sample.o
 
 ec_dc_rtai_sample-objs := dc_rtai_sample.o

examples/mini/Kbuild.in

@@ -25,6 +25,8 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+
 obj-m := ec_mini.o
 
 ec_mini-objs := mini.o

examples/rtai/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 obj-m := ec_rtai_sample.o
 
 ec_rtai_sample-objs := rtai_sample.o

examples/tty/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 obj-m := ec_tty_example.o
 
 ec_tty_example-objs := \

include/ecrt.h

@@ -1,6 +1,6 @@
 /******************************************************************************
  *
- *  Copyright (C) 2006-2023  Florian Pose, Ingenieurgemeinschaft IgH
+ *  Copyright (C) 2006-2024  Florian Pose, Ingenieurgemeinschaft IgH
  *
  *  This file is part of the IgH EtherCAT master userspace library.
  *
@@ -42,6 +42,12 @@
  * e.g. in RTAI/Xenomai Real-Time tasks or in atomic/softirq/tasklet
  * context in kernel modules. You have been warned.
  *
+ * Changes in version 1.6.0:
+ *
+ * - Added the ecrt_master_scan_progress() method, the
+ *   ec_master_scan_progress_t structure and the EC_HAVE_SCAN_PROGRESS
+ *   definition to check for its existence.
+ *
  * Changes since version 1.5.2:
  *
  * - Added the ecrt_slave_config_flag() method and the EC_HAVE_FLAGS
@@ -232,6 +238,11 @@
  */
 #define EC_HAVE_SOE_REQUESTS
 
+/** Defined, if the method ecrt_master_scan_progress() and the
+ * ec_master_scan_progress_t sttucture are available.
+ */
+#define EC_HAVE_SCAN_PROGRESS
+
 /*****************************************************************************/
 
 /** Symbol visibility control macro.
@@ -394,6 +405,21 @@ typedef struct {
 
 /*****************************************************************************/
 
+/** Master scan progress information.
+ *
+ * This is used as an output parameter of ecrt_master_scan_progress().
+ *
+ * \see ecrt_master_scan_progress().
+ */
+typedef struct {
+   unsigned int slave_count; /**< Number of slaves detected. */
+   unsigned int scan_index; /**< Index of the slave that is currently scanned.
+                              If it is less than the \a slave_count, the
+                              network scan is in progress. */
+} ec_master_scan_progress_t;
+
+/*****************************************************************************/
+
 /** EtherCAT slave port descriptor.
  */
 typedef enum {
@@ -789,6 +815,20 @@ EC_PUBLIC_API int ecrt_master(
                                         information */
         );
 
+/** Obtains network scan progress information.
+ *
+ * No memory is allocated on the heap in this function.
+ *
+ * \attention The pointer to this structure must point to a valid variable.
+ *
+ * \return 0 in case of success, else < 0
+ */
+int ecrt_master_scan_progress(
+        ec_master_t *master, /**< EtherCAT master */
+        ec_master_scan_progress_t *progress /**< Structure that will output
+                                              the progress information. */
+        );
+
 /** Obtains slave information.
  *
  * Tries to find the slave with the given ring position. The obtained

lib/master.c

@@ -245,6 +245,26 @@ int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
 
 /****************************************************************************/
 
+int ecrt_master_scan_progress(ec_master_t *master,
+        ec_master_scan_progress_t *progress)
+{
+    ec_ioctl_master_t data;
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to get master info: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
+    }
+
+    progress->slave_count = data.slave_count;
+    progress->scan_index = data.scan_index;
+    return 0;
+}
+
+/****************************************************************************/
+
 int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
         ec_slave_info_t *slave_info)
 {

master/Kbuild.in

@@ -25,6 +25,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 obj-m := ec_master.o
 
 ec_master-objs := \

master/Makefile.am

@@ -33,6 +33,7 @@ noinst_HEADERS = \
 	domain.c domain.h \
 	doxygen.c \
 	ethernet.c ethernet.h \
+	flag.c flag.h \
 	fmmu_config.c fmmu_config.h \
 	foe.h \
 	foe_request.c foe_request.h \

master/fsm_master.c

@@ -333,6 +333,7 @@ void ec_fsm_master_state_broadcast(
             ec_device_index_t dev_idx;
 
             master->scan_busy = 1;
+            master->scan_index = 0;
             up(&master->scan_sem);
 
             // clear all slaves and scan the bus
@@ -836,6 +837,7 @@ void ec_fsm_master_state_clear_addresses(
                 ec_device_names[fsm->dev_idx != 0]);
         ec_datagram_print_state(datagram);
         master->scan_busy = 0;
+        master->scan_index = master->slave_count;
         wake_up_interruptible(&master->scan_queue);
         ec_fsm_master_restart(fsm);
         return;
@@ -879,6 +881,7 @@ void ec_fsm_master_state_dc_measure_delays(
                 " on %s link: ", ec_device_names[fsm->dev_idx != 0]);
         ec_datagram_print_state(datagram);
         master->scan_busy = 0;
+        master->scan_index = master->slave_count;
         wake_up_interruptible(&master->scan_queue);
         ec_fsm_master_restart(fsm);
         return;
@@ -901,6 +904,7 @@ void ec_fsm_master_state_dc_measure_delays(
 
     // begin scanning of slaves
     fsm->slave = master->slaves;
+    master->scan_index = 0;
     EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
             fsm->slave->ring_position,
             ec_device_names[fsm->slave->device_index != 0]);
@@ -946,6 +950,7 @@ void ec_fsm_master_state_scan_slave(
 
     // another slave to fetch?
     fsm->slave++;
+    master->scan_index++;
     if (fsm->slave < master->slaves + master->slave_count) {
         EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
                 fsm->slave->ring_position,
@@ -960,6 +965,7 @@ void ec_fsm_master_state_scan_slave(
             (jiffies - fsm->scan_jiffies) * 1000 / HZ);
 
     master->scan_busy = 0;
+    master->scan_index = master->slave_count;
     wake_up_interruptible(&master->scan_queue);
 
     ec_master_calc_dc(master);

master/fsm_slave_config.c

@@ -16,8 +16,6 @@
  *  You should have received a copy of the GNU General Public License along
  *  with the IgH EtherCAT Master; if not, write to the Free Software
  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- *
- *  ---
  */
 
 /** \file

master/fsm_slave_config.h

@@ -16,8 +16,6 @@
  *  You should have received a copy of the GNU General Public License along
  *  with the IgH EtherCAT Master; if not, write to the Free Software
  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- *
- *  ---
  */
 
 /**

master/ioctl.c

@@ -16,8 +16,6 @@
  *  You should have received a copy of the GNU General Public License along
  *  with the IgH EtherCAT Master; if not, write to the Free Software
  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- *
- *  ---
  */
 
 /**
@@ -120,6 +118,7 @@ static ATTRIBUTES int ec_ioctl_master(
     }
 
     io.slave_count = master->slave_count;
+    io.scan_index = master->scan_index;
     io.config_count = ec_master_config_count(master);
     io.domain_count = ec_master_domain_count(master);
 #ifdef EC_EOE

master/ioctl.h

@@ -47,7 +47,7 @@
  *
  * Increment this when changing the ioctl interface!
  */
-#define EC_IOCTL_VERSION_MAGIC 33
+#define EC_IOCTL_VERSION_MAGIC 34
 
 // Command-line tool
 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
@@ -169,6 +169,7 @@ typedef struct {
 
 typedef struct {
     uint32_t slave_count;
+    uint32_t scan_index;
     uint32_t config_count;
     uint32_t domain_count;
     uint32_t eoe_handler_count;

master/master.c

@@ -186,6 +186,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     master->dc_ref_time = 0ULL;
 
     master->scan_busy = 0;
+    master->scan_index = 0;
     master->allow_scan = 1;
     sema_init(&master->scan_sem, 1);
     init_waitqueue_head(&master->scan_queue);
@@ -2629,6 +2630,19 @@ int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
 
 /*****************************************************************************/
 
+int ecrt_master_scan_progress(ec_master_t *master,
+        ec_master_scan_progress_t *progress)
+{
+    EC_MASTER_DBG(master, 1, "ecrt_master_scan_progress(master = 0x%p,"
+            " progress = 0x%p)\n", master, progress);
+
+    progress->slave_count = master->slave_count;
+    progress->scan_index = master->scan_index;
+    return 0;
+}
+
+/*****************************************************************************/
+
 int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
         ec_slave_info_t *slave_info)
 {
@@ -3252,6 +3266,7 @@ EXPORT_SYMBOL(ecrt_master_send_ext);
 EXPORT_SYMBOL(ecrt_master_receive);
 EXPORT_SYMBOL(ecrt_master_callbacks);
 EXPORT_SYMBOL(ecrt_master);
+EXPORT_SYMBOL(ecrt_master_scan_progress);
 EXPORT_SYMBOL(ecrt_master_get_slave);
 EXPORT_SYMBOL(ecrt_master_slave_config);
 EXPORT_SYMBOL(ecrt_master_select_reference_clock);

master/master.h

@@ -1,8 +1,6 @@
 /******************************************************************************
  *
- *  $Id$
- *
- *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
+ *  Copyright (C) 2006-2024  Florian Pose, Ingenieurgemeinschaft IgH
  *
  *  This file is part of the IgH EtherCAT Master.
  *
@@ -36,9 +34,7 @@
 #include <linux/timer.h>
 #include <linux/wait.h>
 #include <linux/kthread.h>
-
 #include <linux/rtmutex.h>
-#include <linux/semaphore.h>
 
 #include "device.h"
 #include "domain.h"
@@ -235,6 +231,7 @@ struct ec_master {
     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; /**< \a True, if slave scanning is allowed. */
     struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
                                  variable and the \a allow_scan flag. */

tty/Kbuild.in

@@ -26,6 +26,9 @@
 #
 #------------------------------------------------------------------------------
 
+src := @abs_srcdir@
+ccflags-y := -I@abs_top_builddir@
+
 obj-m := ec_tty.o
 
 ec_tty-objs := \