Merged changes from Martin Troxler.

examples/mini/mini.c

@@ -393,7 +393,7 @@ int __init init_mini_module(void)
         goto out_return;
     }
 
-    init_MUTEX(&master_sem);
+    sema_init(&master_sem, 1);
     ecrt_master_callbacks(master, send_callback, receive_callback, master);
 
     printk(KERN_INFO PFX "Registering domain...\n");

examples/tty/tty.c

@@ -459,7 +459,7 @@ int __init init_mini_module(void)
         goto out_tty;
     }
 
-    init_MUTEX(&master_sem);
+    sema_init(&master_sem, 1);
     ecrt_master_callbacks(master, send_callback, receive_callback, master);
 
     printk(KERN_INFO PFX "Registering domain...\n");

include/ecrt.h

@@ -219,6 +219,7 @@ typedef struct  {
 typedef struct {
    unsigned int slave_count; /**< Number of slaves in the bus. */
    unsigned int link_up : 1; /**< \a true, if the network link is up. */
+   uint8_t scan_busy;	/**< \a true, while the master is scanning the bus */   
    uint64_t app_time; /**< Application time. */
 } ec_master_info_t;
 

lib/master.c

@@ -125,6 +125,7 @@ int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
 
     master_info->slave_count = data.slave_count;
     master_info->link_up = data.devices[0].link_state;
+    master_info->scan_busy = data.scan_busy;
     master_info->app_time = data.app_time;
     return 0;
 }

master/debug.c

@@ -34,6 +34,7 @@
 
 /*****************************************************************************/
 
+#include <linux/version.h>
 #include <linux/netdevice.h>
 #include <linux/etherdevice.h>
 
@@ -48,6 +49,16 @@ int ec_dbgdev_stop(struct net_device *);
 int ec_dbgdev_tx(struct sk_buff *, struct net_device *);
 struct net_device_stats *ec_dbgdev_stats(struct net_device *);
 
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 31)
+static const struct net_device_ops ec_dbg_netdev_ops =
+{
+    .ndo_open = ec_dbgdev_open,
+    .ndo_stop = ec_dbgdev_stop,
+    .ndo_start_xmit = ec_dbgdev_tx,
+    .ndo_get_stats = ec_dbgdev_stats,
+};
+#endif
+
 /*****************************************************************************/
 
 /** Debug interface constructor.
@@ -74,10 +85,14 @@ int ec_debug_init(
     }
 
     // initialize net_device
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 31)
+    dbg->dev->netdev_ops = &ec_dbg_netdev_ops;
+#else
     dbg->dev->open = ec_dbgdev_open;
     dbg->dev->stop = ec_dbgdev_stop;
     dbg->dev->hard_start_xmit = ec_dbgdev_tx;
     dbg->dev->get_stats = ec_dbgdev_stats;
+#endif
 
     // initialize private data
     *((ec_debug_t **) netdev_priv(dbg->dev)) = dbg;

master/ethernet.c

@@ -34,6 +34,7 @@
 
 /*****************************************************************************/
 
+#include <linux/version.h>
 #include <linux/netdevice.h>
 #include <linux/etherdevice.h>
 
@@ -118,7 +119,8 @@ int ec_eoe_init(
     eoe->tx_queue_active = 0;
     eoe->tx_queue_size = EC_EOE_TX_QUEUE_SIZE;
     eoe->tx_queued_frames = 0;
-    init_MUTEX(&eoe->tx_queue_sem);
+
+    sema_init(&eoe->tx_queue_sem, 1);
     eoe->tx_frame_number = 0xFF;
     memset(&eoe->stats, 0, sizeof(struct net_device_stats));
 

master/fsm_master.c

@@ -344,7 +344,7 @@ int ec_fsm_master_action_process_sii(
 /*****************************************************************************/
 
 /** Check for pending register requests and process one.
- * 
+ *
  * \return non-zero, if a register request is processed.
  */
 int ec_fsm_master_action_process_register(
@@ -949,6 +949,7 @@ void ec_fsm_master_state_write_sii(
     if (request->offset <= 4 && request->offset + request->nwords > 4) {
         // alias was written
         slave->sii.alias = EC_READ_U16(request->words + 4);
+        // TODO: read alias from register 0x0012
     }
     // TODO: Evaluate other SII contents!
 
@@ -1089,7 +1090,7 @@ void ec_fsm_master_state_reg_request(
         ec_fsm_master_restart(fsm);
         return;
     }
-    
+
     if (datagram->working_counter == 1) {
         if (request->dir == EC_DIR_INPUT) { // read request
             if (request->data)

master/fsm_slave_scan.c

@@ -52,6 +52,7 @@ void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
@@ -60,6 +61,7 @@ void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
 
 void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
 
@@ -313,7 +315,7 @@ void ec_fsm_slave_scan_state_base(
     for (i = 0; i < EC_MAX_PORTS; i++) {
         slave->ports[i].desc = (octet >> (2 * i)) & 0x03;
     }
-    
+
     octet = EC_READ_U8(datagram->data + 8);
     slave->base_fmmu_bit_operation = octet & 0x01;
     slave->base_dc_supported = (octet >> 2) & 0x01;
@@ -600,7 +602,7 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
     }
 
     // Evaluate SII contents
-    
+
     ec_slave_clear_sync_managers(slave);
 
     slave->sii.alias =
@@ -711,11 +713,7 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
         }
     }
 
-    if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
-        ec_fsm_slave_scan_enter_preop(fsm);
-    } else {
-        fsm->state = ec_fsm_slave_scan_state_end;
-    }
+    ec_fsm_slave_scan_enter_regalias(fsm);
     return;
 
 end:
@@ -724,6 +722,74 @@ end:
     fsm->state = ec_fsm_slave_scan_state_error;
 }
 
+
+/*****************************************************************************/
+
+/**
+   Slave scan entry function: REGALIAS.
+*/
+
+void ec_fsm_slave_scan_enter_regalias(
+        ec_fsm_slave_scan_t *fsm /**< slave state machine */
+        )
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    // read alias from register 0x0012
+    if (slave->master->debug_level)
+         EC_DBG("Reading alias from register 0x0012 of slave %u.\n",
+                 slave->ring_position);
+    ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2);
+    ec_datagram_zero(datagram);
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_slave_scan_state_regalias;
+}
+
+/*****************************************************************************/
+
+/**
+   Slave scan state: REGALIAS.
+*/
+void ec_fsm_slave_scan_state_regalias(
+        ec_fsm_slave_scan_t *fsm /**< slave state machine */
+		)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to receive get reg alias datagram from slave %u"
+                " (datagram state %u).\n",
+               fsm->slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_scan_state_error;
+        EC_ERR("Failed to read reg alias of slave %u: ",
+               fsm->slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    slave->sii.alias = EC_READ_U16(datagram->data);
+    if (slave->master->debug_level)
+         EC_DBG("Alias of slave %u is %u.\n",
+                 slave->ring_position,slave->sii.alias);
+
+    if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
+        ec_fsm_slave_scan_enter_preop(fsm);
+    } else {
+        fsm->state = ec_fsm_slave_scan_state_end;
+    }
+}
+
 /*****************************************************************************/
 
 /** Enter slave scan state PREOP.

master/master.c

@@ -114,11 +114,12 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     master->index = index;
     master->reserved = 0;
 
-    init_MUTEX(&master->master_sem);
+    sema_init(&master->master_sem, 1);
 
     master->main_mac = main_mac;
     master->backup_mac = backup_mac;
-    init_MUTEX(&master->device_sem);
+
+    sema_init(&master->device_sem, 1);
 
     master->phase = EC_ORPHANED;
     master->active = 0;
@@ -136,19 +137,19 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
 
     master->scan_busy = 0;
     master->allow_scan = 1;
-    init_MUTEX(&master->scan_sem);
+    sema_init(&master->scan_sem, 1);
     init_waitqueue_head(&master->scan_queue);
 
     master->config_busy = 0;
     master->allow_config = 1;
-    init_MUTEX(&master->config_sem);
+    sema_init(&master->config_sem, 1);
     init_waitqueue_head(&master->config_queue);
     
     INIT_LIST_HEAD(&master->datagram_queue);
     master->datagram_index = 0;
 
     INIT_LIST_HEAD(&master->ext_datagram_queue);
-    init_MUTEX(&master->ext_queue_sem);
+    sema_init(&master->ext_queue_sem, 1);
 
     INIT_LIST_HEAD(&master->domains);
 
@@ -166,7 +167,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     INIT_LIST_HEAD(&master->eoe_handlers);
 #endif
 
-    init_MUTEX(&master->io_sem);
+    sema_init(&master->io_sem, 1);
     master->send_cb = NULL;
     master->receive_cb = NULL;
     master->cb_data = NULL;

master/module.c

@@ -101,7 +101,7 @@ int __init ec_init_module(void)
 
     EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
 
-    init_MUTEX(&master_sem);
+    sema_init(&master_sem, 1);
 
     if (master_count) {
         if (alloc_chrdev_region(&device_number, 0, master_count, "EtherCAT")) {