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ethercat
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Use jiffies instead of cycles in CoE state machine.

This commit is contained in:
Florian Pose 2008-06-19 10:17:52 +00:00
parent 1415090d15
commit 05cbdfd999
2 changed files with 26 additions and 20 deletions
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44
master/fsm_coe.c
View File

@ -317,7 +317,7 @@ void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@ -355,8 +355,9 @@ void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
slave->ring_position);
@ -494,7 +495,7 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
@ -556,7 +557,7 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@ -594,8 +595,9 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo description on slave %u.\n",
slave->ring_position);
@ -784,7 +786,7 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail
fsm->retries = EC_FSM_RETRIES;
@ -823,8 +825,9 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
slave->ring_position);
@ -1113,7 +1116,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@ -1151,8 +1154,9 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo configuration on slave %u.\n",
slave->ring_position);
@ -1357,7 +1361,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@ -1395,8 +1399,9 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload on slave %u.\n",
slave->ring_position);
@ -1649,7 +1654,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@ -1687,8 +1692,9 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n",
slave->ring_position);

2
master/fsm_coe.h
View File

@ -60,7 +60,7 @@ struct ec_fsm_coe {
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
cycles_t cycles_start; /**< CoE timestamp */
unsigned long jiffies_start; /**< CoE timestamp. */
ec_sdo_t *sdo; /**< current Sdo */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< Sdo request */