mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-09-22 01:53:54 +08:00
Merged Komax changes.
This commit is contained in:
Florian Pose
@@ -32,6 +32,48 @@ devices/e1000/Kbuild
|
||||
devices/e1000/Makefile
|
||||
devices/e1000/Makefile.in
|
||||
devices/modules.order
|
||||
documentation/ethercat_doc.aux
|
||||
documentation/ethercat_doc.idx
|
||||
documentation/ethercat_doc.lof
|
||||
documentation/ethercat_doc.log
|
||||
documentation/ethercat_doc.lot
|
||||
documentation/ethercat_doc.nlo
|
||||
documentation/ethercat_doc.out
|
||||
documentation/ethercat_doc.pdf
|
||||
documentation/ethercat_doc.toc
|
||||
documentation/external
|
||||
documentation/graphs/fsm_change.pdf
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||||
documentation/graphs/fsm_change.ps
|
||||
documentation/graphs/fsm_eoe.pdf
|
||||
documentation/graphs/fsm_eoe.ps
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documentation/graphs/fsm_master.pdf
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||||
documentation/graphs/fsm_master.ps
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||||
documentation/graphs/fsm_pdo_conf.pdf
|
||||
documentation/graphs/fsm_pdo_conf.ps
|
||||
documentation/graphs/fsm_pdo_entry_conf.pdf
|
||||
documentation/graphs/fsm_pdo_entry_conf.ps
|
||||
documentation/graphs/fsm_pdo_entry_read.pdf
|
||||
documentation/graphs/fsm_pdo_entry_read.ps
|
||||
documentation/graphs/fsm_pdo_read.pdf
|
||||
documentation/graphs/fsm_pdo_read.ps
|
||||
documentation/graphs/fsm_sii.pdf
|
||||
documentation/graphs/fsm_sii.ps
|
||||
documentation/graphs/fsm_slave_conf.pdf
|
||||
documentation/graphs/fsm_slave_conf.ps
|
||||
documentation/graphs/fsm_slave_scan.pdf
|
||||
documentation/graphs/fsm_slave_scan.ps
|
||||
documentation/images/app-config.pdf
|
||||
documentation/images/architecture.pdf
|
||||
documentation/images/attach.pdf
|
||||
documentation/images/dc.pdf
|
||||
documentation/images/fmmus.pdf
|
||||
documentation/images/fsm-coedown.pdf
|
||||
documentation/images/fsm-eoe.pdf
|
||||
documentation/images/interrupt.pdf
|
||||
documentation/images/master-locks.pdf
|
||||
documentation/images/masters.pdf
|
||||
documentation/images/phases.pdf
|
||||
documentation/images/statetrans.pdf
|
||||
examples/Kbuild
|
||||
examples/Makefile
|
||||
examples/Makefile.in
|
||||
|
||||
@@ -14,13 +14,16 @@ General Features:
|
||||
- Runs as kernel module for Linux 2.6.
|
||||
- Multiple masters possible on one machine.
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||||
|
||||
* EtherCAT-capable versions of standard Linux drivers for wide-spread
|
||||
Ethernet devices.
|
||||
- Interrupt-less operation of Ethernet devices.
|
||||
- Easy implementation of additional Ethernet drivers through common device
|
||||
interface.
|
||||
* Native EtherCAT-capable versions of standard Linux drivers for wide-spread
|
||||
Ethernet devices, as well as a generic driver for all chips supported by the
|
||||
Linux kernel.
|
||||
- Interrupt-less operation of Ethernet devices when using native drivers.
|
||||
- Easy implementation of additional native Ethernet drivers through common
|
||||
device interface.
|
||||
- Operation possible with any device supported by the standard drivers,
|
||||
including PCMCIA devices.
|
||||
- For any other hardware, the generic driver can be used. It uses the lower
|
||||
layers of the Linux network stack.
|
||||
|
||||
* Supports any realtime environment through independent architecture.
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||||
- RTAI, Xenomai, RT-Preempt, etc.
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|
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+222
-136
File diff suppressed because it is too large
Load Diff
@@ -6,7 +6,6 @@
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FIGS := \
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app-config.fig \
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architecture.fig \
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attach.fig \
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dc.fig \
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fmmus.fig \
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@@ -1,176 +0,0 @@
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#FIG 3.2
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Portrait
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Center
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Metric
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A4
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100.00
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Single
|
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-2
|
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1200 2
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 7245.000 5985.000 6975 5985 7245 5715 7515 5985
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6 5085 7965 5850 8820
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2 3 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 8
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5175 7965 5760 7965 5760 8775 5175 8775 5175 8415 5085 8415
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5085 7965 5175 7965
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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5490 8190 5670 8190 5670 8370 5490 8370 5490 8190
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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5310 8505 5400 8505 5400 8595 5310 8595 5310 8505
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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5850 8775 5085 8775 5085 8815 5850 8815 5850 8775
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-6
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6 6435 7965 7200 8820
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2 3 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 8
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6525 7965 7110 7965 7110 8775 6525 8775 6525 8415 6435 8415
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6435 7965 6525 7965
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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6840 8190 7020 8190 7020 8370 6840 8370 6840 8190
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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6660 8505 6750 8505 6750 8595 6660 8595 6660 8505
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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2 2 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
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7200 8775 6435 8775 6435 8815 7200 8815 7200 8775
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-6
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6 4905 5445 5985 6030
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 5445.000 5985.000 4950 5985 5445 5490 5940 5985
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4 1 0 50 -1 16 10 0.0000 4 120 465 5445 5760 Device\001
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||||
4 1 0 50 -1 16 10 0.0000 4 120 615 5445 5925 Interface\001
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||||
-6
|
||||
6 3870 4275 4500 5355
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5 1 0 1 0 7 50 -1 20 0.000 0 0 0 0 3958.125 4815.000 3915 4320 4455 4815 3915 5310
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4 1 0 49 -1 16 10 4.7124 4 150 765 4162 4822 Application\001
|
||||
4 1 0 49 -1 16 10 4.7124 4 120 615 3997 4822 Interface\001
|
||||
-6
|
||||
6 5205 2648 6480 3293
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5 1 0 1 0 7 50 -1 -1 0.000 0 0 0 0 5842.000 2655.000 6472 2655 5842 3285 5212 2655
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4 1 0 50 -1 16 12 0.0000 4 135 600 5842 3105 Device\001
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||||
4 1 0 50 -1 16 12 0.0000 4 135 825 5842 2880 Character\001
|
||||
-6
|
||||
6 3870 945 4500 2025
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5 1 0 1 0 7 49 -1 -1 0.000 0 0 0 0 3958.125 1485.000 3915 990 4455 1485 3915 1980
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||||
4 1 0 48 -1 16 10 4.7124 4 150 765 4162 1492 Application\001
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||||
4 1 0 48 -1 16 10 4.7124 4 120 615 3997 1492 Interface\001
|
||||
-6
|
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6 2160 855 3420 2115
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1 3 0 1 0 7 50 -1 20 0.000 1 0.0000 2790 1485 585 585 2790 1485 3375 1485
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4 1 0 49 -1 16 12 0.0000 4 180 945 2790 1665 Application\001
|
||||
4 1 0 49 -1 16 12 0.0000 4 180 885 2790 1440 Userspace\001
|
||||
-6
|
||||
1 4 0 1 0 7 50 -1 -1 0.000 1 0.0000 2484 4871 459 459 2025 4860 2944 4882
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 5445 4815 810 495 4635 4320 6255 5310
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1 4 0 1 0 7 50 -1 -1 4.000 1 0.0000 7058 1658 495 495 7553 2153 6563 1163
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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5445 7965 5445 7425
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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5445 6885 5445 5985
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2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
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5535 8820 5625 8820 5625 8910 5535 8910 5535 8820
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2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
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6885 8820 6975 8820 6975 8910 6885 8910 6885 8820
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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7245 6885 7245 5985
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 7 0 0 5
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7605 7605 7605 6345 4635 6345 4635 7605 7605 7605
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2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
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4905 6885 5985 6885 5985 7425 4905 7425 4905 6885
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2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
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6255 6885 7335 6885 7335 7425 6255 7425 6255 6885
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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5445 5490 5445 5310
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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4635 4815 4455 4815
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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3915 4815 3465 4815
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2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
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7605 3645 6885 3645 6885 5985 7605 5985 7605 3645
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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1575 7785 7785 7785
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 9 0 0 5
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1755 5985 1755 3645 3465 3645 3465 5985 1755 5985
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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7785 8280 7785 2205
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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1575 8280 1575 2205
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2 4 0 1 0 7 50 -1 -1 0.000 0 0 8 0 0 5
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6435 5985 6435 3645 3915 3645 3915 5985 6435 5985
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2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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7785 2655 1575 2655
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2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 2
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5850 3285 5850 3645
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2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
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3915 1485 3375 1485
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2 4 0 1 0 7 50 -1 20 0.000 0 0 7 0 0 5
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5040 2250 3915 2250 3915 720 5040 720 5040 2250
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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5580 8910 5355 9045 4770 9090
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0.000 -1.000 0.000
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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6931 8910 6390 9270 4770 9450
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0.000 -1.000 0.000
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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6570 1665 6120 1890 5985 2655
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0.000 -1.000 0.000
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3 2 0 1 0 7 50 -1 -1 0.000 0 0 0 3
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||||
5040 1485 5580 1800 5715 2655
|
||||
0.000 -1.000 0.000
|
||||
4 1 0 50 -1 16 10 0.0000 4 150 750 5445 7200 net_device\001
|
||||
4 1 0 50 -1 16 10 0.0000 4 150 750 6795 7200 net_device\001
|
||||
4 2 0 50 -1 12 10 0.0000 4 105 810 5355 6210 ecdev_*()\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 1545 6345 6570 EtherCAT Network\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 1200 6345 6750 Driver Module\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 135 2130 4005 3870 EtherCAT Master Module\001
|
||||
4 1 0 50 -1 16 12 1.5708 4 135 1200 7290 4815 Network Stack\001
|
||||
4 2 0 50 -1 16 12 0.0000 4 135 810 4725 9135 EtherCAT\001
|
||||
4 2 0 50 -1 16 12 0.0000 4 135 690 4725 9495 Ethernet\001
|
||||
4 2 0 50 -1 16 12 0.0000 4 135 315 4995 8100 NIC\001
|
||||
4 2 0 50 -1 16 12 0.0000 4 135 315 6345 8100 NIC\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 135 810 1665 8010 Hardware\001
|
||||
4 2 0 50 -1 12 10 4.7124 4 105 720 3645 4725 ecrt_*()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 945 1845 3870 Application\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 135 630 1845 4095 Module\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 390 2475 4950 Task\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1050 1665 2880 Kernelspace\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 885 1665 2565 Userspace\001
|
||||
4 1 0 50 -1 16 12 4.7124 4 135 870 4635 1530 libethercat\001
|
||||
4 2 0 50 -1 12 10 4.7124 4 105 720 3645 1395 ecrt_*()\001
|
||||
4 2 0 50 -1 12 10 0.0000 4 105 810 7155 6210 netif_*()\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 735 5445 4905 Master 0\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 360 7065 1845 Tool\001
|
||||
4 1 0 50 -1 16 12 0.0000 4 135 765 7065 1620 'ethercat'\001
|
||||
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 44 KiB |
+2
-6
@@ -208,8 +208,6 @@ typedef struct {
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
#ifndef __KERNEL__
|
||||
|
||||
/** Master information.
|
||||
*
|
||||
* This is used as an output parameter of ecrt_master().
|
||||
@@ -246,8 +244,6 @@ typedef struct {
|
||||
char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
|
||||
} ec_slave_info_t;
|
||||
|
||||
#endif // #ifndef __KERNEL__
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/** Domain working counter interpretation.
|
||||
@@ -539,8 +535,6 @@ ec_slave_config_t *ecrt_master_slave_config(
|
||||
uint32_t product_code /**< Expected product code. */
|
||||
);
|
||||
|
||||
#ifndef __KERNEL__
|
||||
|
||||
/** Obtains master information.
|
||||
*
|
||||
* No memory is allocated on the heap in
|
||||
@@ -573,6 +567,8 @@ int ecrt_master_get_slave(
|
||||
information */
|
||||
);
|
||||
|
||||
#ifndef __KERNEL__
|
||||
|
||||
/** Returns the proposed configuration of a slave's sync manager.
|
||||
*
|
||||
* Fills a given ec_sync_info_t structure with the attributes of a sync
|
||||
|
||||
+1
-1
@@ -156,7 +156,7 @@ int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
|
||||
slave_info->error_flag = data.error_flag;
|
||||
slave_info->sync_count = data.sync_count;
|
||||
slave_info->sdo_count = data.sdo_count;
|
||||
strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
|
||||
strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -2138,6 +2138,56 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
|
||||
{
|
||||
if (master->debug_level)
|
||||
EC_DBG("ecrt_master(master = 0x%p, master_info = 0x%p)\n",
|
||||
master, master_info);
|
||||
|
||||
master_info->slave_count = master->slave_count;
|
||||
master_info->link_up = master->main_device.link_state;
|
||||
master_info->scan_busy = master->scan_busy;
|
||||
master_info->app_time = master->app_time;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
|
||||
ec_slave_info_t *slave_info)
|
||||
{
|
||||
const ec_slave_t *slave;
|
||||
|
||||
if (down_interruptible(&master->master_sem)) {
|
||||
return -EINTR;
|
||||
}
|
||||
|
||||
slave = ec_master_find_slave_const(master, 0, slave_position);
|
||||
|
||||
slave_info->position = slave->ring_position;
|
||||
slave_info->vendor_id = slave->sii.vendor_id;
|
||||
slave_info->product_code = slave->sii.product_code;
|
||||
slave_info->revision_number = slave->sii.revision_number;
|
||||
slave_info->serial_number = slave->sii.serial_number;
|
||||
slave_info->alias = slave->sii.alias;
|
||||
slave_info->current_on_ebus = slave->sii.current_on_ebus;
|
||||
slave_info->al_state = slave->current_state;
|
||||
slave_info->error_flag = slave->error_flag;
|
||||
slave_info->sync_count = slave->sii.sync_count;
|
||||
slave_info->sdo_count = ec_slave_sdo_count(slave);
|
||||
if (slave->sii.name) {
|
||||
strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH);
|
||||
} else {
|
||||
slave_info->name[0] = 0;
|
||||
}
|
||||
|
||||
up(&master->master_sem);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
void ecrt_master_callbacks(ec_master_t *master,
|
||||
void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
|
||||
{
|
||||
@@ -2218,6 +2268,8 @@ EXPORT_SYMBOL(ecrt_master_send);
|
||||
EXPORT_SYMBOL(ecrt_master_send_ext);
|
||||
EXPORT_SYMBOL(ecrt_master_receive);
|
||||
EXPORT_SYMBOL(ecrt_master_callbacks);
|
||||
EXPORT_SYMBOL(ecrt_master);
|
||||
EXPORT_SYMBOL(ecrt_master_get_slave);
|
||||
EXPORT_SYMBOL(ecrt_master_slave_config);
|
||||
EXPORT_SYMBOL(ecrt_master_state);
|
||||
EXPORT_SYMBOL(ecrt_master_application_time);
|
||||
|
||||
@@ -40,6 +40,7 @@
|
||||
#include <linux/tty_flip.h>
|
||||
#include <linux/termios.h>
|
||||
#include <linux/timer.h>
|
||||
#include <linux/version.h>
|
||||
|
||||
#include "../master/globals.h"
|
||||
#include "../include/ectty.h"
|
||||
@@ -379,7 +380,11 @@ static int ec_tty_write(
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
|
||||
static int ec_tty_put_char(struct tty_struct *tty, unsigned char ch)
|
||||
#else
|
||||
static void ec_tty_put_char(struct tty_struct *tty, unsigned char ch)
|
||||
#endif
|
||||
{
|
||||
ec_tty_t *t = (ec_tty_t *) tty->driver_data;
|
||||
|
||||
@@ -390,8 +395,14 @@ static void ec_tty_put_char(struct tty_struct *tty, unsigned char ch)
|
||||
if (ec_tty_tx_space(t)) {
|
||||
t->tx_buffer[t->tx_write_idx] = ch;
|
||||
t->tx_write_idx = (t->tx_write_idx + 1) % EC_TTY_TX_BUFFER_SIZE;
|
||||
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
|
||||
return 1;
|
||||
#endif
|
||||
} else {
|
||||
printk(KERN_WARNING PFX "%s(): Dropped a byte!\n", __func__);
|
||||
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@@ -506,11 +517,19 @@ static void ec_tty_hangup(struct tty_struct *tty)
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
|
||||
static int ec_tty_break(struct tty_struct *tty, int break_state)
|
||||
#else
|
||||
static void ec_tty_break(struct tty_struct *tty, int break_state)
|
||||
#endif
|
||||
{
|
||||
#if EC_TTY_DEBUG >= 2
|
||||
printk(KERN_INFO PFX "%s(break_state = %i).\n", __func__, break_state);
|
||||
#endif
|
||||
|
||||
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
|
||||
return -EIO; // not implemented
|
||||
#endif
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
Reference in New Issue
Block a user