Mirrors_Framework/ethercat
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Reverted default branch to stable-1.5.

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This commit is contained in:
Florian Pose
2014-11-03 15:20:05 +01:00
parent 8479fd7675
commit 99418519bd
664 changed files with 837025 additions and 12883 deletions
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master/globals.h
+12 -88
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@@ -39,22 +39,6 @@
#include "../globals.h"
#include "../include/ecrt.h"
#ifdef __KERNEL__
#include <linux/version.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 24)
#include <linux/rtmutex.h>
#endif // KERNEL_VERSION(2, 6, 24)
#endif // __KERNEL__
#if 0
#ifdef CONFIG_TRACING
#define USE_TRACE_PRINTK
#endif
#endif
/******************************************************************************
* EtherCAT master
*****************************************************************************/
@@ -62,8 +46,8 @@
/** Datagram timeout in microseconds. */
#define EC_IO_TIMEOUT 500
/** FSM injection timeout in microseconds. */
#define EC_FSM_INJECTION_TIMEOUT 10000
/** SDO injection timeout in microseconds. */
#define EC_SDO_INJECTION_TIMEOUT 10000
/** Time to send a byte in nanoseconds.
*
@@ -198,7 +182,7 @@ typedef enum {
*/
typedef struct {
uint32_t cycle_time; /**< Cycle time [ns]. */
uint32_t shift_time; /**< Shift time [ns]. */
int32_t shift_time; /**< Shift time [ns]. */
} ec_sync_signal_t;
/** Access states for SDO entries.
@@ -212,6 +196,15 @@ enum {
EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
};
/** Master devices.
*/
typedef enum {
EC_DEVICE_MAIN, /**< Main device. */
EC_DEVICE_BACKUP /**< Backup device */
} ec_device_index_t;
extern const char *ec_device_names[2]; // only main and backup!
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
@@ -321,73 +314,4 @@ typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */
/*****************************************************************************/
#ifdef __KERNEL__
/** Mutual exclusion helpers.
*/
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 24)
#define ec_mutex_t rt_mutex
static inline void ec_mutex_init(struct ec_mutex_t *mutex)
{
rt_mutex_init(mutex);
}
static inline void ec_mutex_lock(struct ec_mutex_t *mutex)
{
rt_mutex_lock(mutex);
}
static inline int ec_mutex_trylock(struct ec_mutex_t *mutex)
{
return rt_mutex_trylock(mutex);
}
static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *mutex)
{
return rt_mutex_lock_interruptible(mutex, 0);
}
static inline void ec_mutex_unlock(struct ec_mutex_t *mutex)
{
rt_mutex_unlock(mutex);
}
#else // < KERNEL_VERSION(2, 6, 24)
#define ec_mutex_t semaphore
static inline void ec_mutex_init(struct ec_mutex_t *sem)
{
sema_init(sem, 1);
}
static inline void ec_mutex_lock(struct ec_mutex_t *sem)
{
down(sem);
}
static inline int ec_mutex_trylock(struct ec_mutex_t *sem)
{
down(sem);
return 1;
}
static inline int ec_mutex_lock_interruptible(struct ec_mutex_t *sem)
{
return down_interruptible(sem);
}
static inline void ec_mutex_unlock(struct ec_mutex_t *sem)
{
up(sem);
}
#endif // KERNEL_VERSION(2, 6, 24)
#endif // __KERNEL__
/*****************************************************************************/
#endif