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ethercat
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Prepared EoE processing with workqueue.

This commit is contained in:
Florian Pose 2006-04-25 13:43:13 +00:00
parent abdfe2f3a5
commit 1f345f7df6
5 changed files with 103 additions and 21 deletions
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2
include/ecrt.h
View File

@ -105,6 +105,8 @@ void ecrt_master_prepare_async_io(ec_master_t *master);
void ecrt_master_run(ec_master_t *master);
int ecrt_master_start_eoe(ec_master_t *master);
void ecrt_master_debug(ec_master_t *master, int level);
void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);

89
master/master.c
View File

@ -46,6 +46,7 @@
/*****************************************************************************/
void ec_master_freerun(unsigned long);
void ec_master_run_eoe(void *);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
@ -112,6 +113,9 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->freerun_timer.function = ec_master_freerun;
master->freerun_timer.data = (unsigned long) master;
master->eoe_wq = NULL;
INIT_WORK(&master->eoe_work, ec_master_run_eoe, master);
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
@ -145,6 +149,8 @@ void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
ec_command_clear(&master->simple_command);
ec_command_clear(&master->watch_command);
if (master->eoe_wq) destroy_workqueue(master->eoe_wq);
EC_INFO("Master %i cleared.\n", master->index);
}
@ -163,6 +169,11 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
ec_domain_t *domain, *next_d;
ec_eoe_t *eoe, *next_eoe;
// stop EoE processing
if (master->eoe_wq && !cancel_delayed_work(&master->eoe_work)) {
flush_workqueue(master->eoe_wq);
}
ec_master_freerun_stop(master);
// remove all slaves
@ -485,7 +496,6 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
ec_slave_ident_t *ident;
unsigned int i;
ec_command_t *command;
ec_eoe_t *eoe;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
@ -570,20 +580,6 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
slave->coupler_index = current_coupler_index;
slave->coupler_subindex = coupler_subindex;
coupler_subindex++;
// does the slave support EoE?
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate EoE-Object.\n");
goto out_free;
}
if (ec_eoe_init(eoe, slave)) {
kfree(eoe);
goto out_free;
}
list_add_tail(&eoe->list, &master->eoe_slaves);
}
}
return 0;
@ -848,13 +844,19 @@ void ec_master_process_watch_command(ec_master_t *master
Does the Ethernet-over-EtherCAT processing.
*/
void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
void ec_master_run_eoe(void *data /**< work data (= master pointer) */)
{
ec_master_t *master = (ec_master_t *) data;
#if 0
ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_run(eoe);
}
#endif
queue_delayed_work(master->eoe_wq, &master->eoe_work, HZ);
}
/******************************************************************************
@ -1298,9 +1300,6 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
// watchdog command
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
// Ethernet-over-EtherCAT
ec_master_run_eoe(master);
}
/*****************************************************************************/
@ -1431,6 +1430,56 @@ void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
/*****************************************************************************/
/**
Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
\ingroup RealtimeInterface
*/
int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
{
ec_eoe_t *eoe;
ec_slave_t *slave;
if (!master->request_cb || !master->release_cb) {
EC_ERR("EoE requires master callbacks to be set!\n");
return -1;
}
list_for_each_entry(slave, &master->slaves, list) {
// does the slave support EoE?
if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate EoE-Object.\n");
return -1;
}
if (ec_eoe_init(eoe, slave)) {
kfree(eoe);
return -1;
}
list_add_tail(&eoe->list, &master->eoe_slaves);
}
if (list_empty(&master->eoe_slaves)) {
EC_WARN("start_eoe: no EoE-capable slaves present.\n");
return 0;
}
// create the EoE workqueue, if necessary
if (!master->eoe_wq) {
if (!(master->eoe_wq = create_singlethread_workqueue("eoework"))) {
EC_ERR("Failed to create EoE workqueue!\n");
return -1;
}
}
// start EoE processing
queue_work(master->eoe_wq, &master->eoe_work);
return 0;
}
/*****************************************************************************/
/**
Sets the debug level of the master.
The following levels are valid:
@ -1495,6 +1544,8 @@ EXPORT_SYMBOL(ecrt_master_sync_io);
EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_run);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master_start_eoe);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
EXPORT_SYMBOL(ecrt_master_get_slave);

3
master/master.h
View File

@ -101,6 +101,8 @@ struct ec_master
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
void *cb_data; /**< data parameter of locking callbacks */
struct workqueue_struct *eoe_wq; /**< work queue for EoE processing */
struct work_struct eoe_work; /**< EoE work object */
};
/*****************************************************************************/
@ -124,7 +126,6 @@ int ec_master_bus_scan(ec_master_t *);
// misc.
void ec_master_output_stats(ec_master_t *);
void ec_master_run_eoe(ec_master_t *);
/*****************************************************************************/

23
mini/mini.c
View File

@ -99,6 +99,19 @@ void run(unsigned long data)
/*****************************************************************************/
int request_lock(void *data)
{
return 0;
}
/*****************************************************************************/
void release_lock(void *data)
{
}
/*****************************************************************************/
int __init init_mini_module(void)
{
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
@ -108,6 +121,8 @@ int __init init_mini_module(void)
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master)))
{
@ -137,6 +152,12 @@ int __init init_mini_module(void)
ecrt_master_print(master, 0);
#endif
#if 1
if (ecrt_master_start_eoe(master)) {
printk(KERN_ERR "Failed to start EoE processing!\n");
goto out_deactivate;
}
#endif
#if 0
if (!(slave = ecrt_master_get_slave(master, "5"))) {
@ -180,7 +201,7 @@ int __init init_mini_module(void)
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
#if 0
#if 1
out_deactivate:
ecrt_master_deactivate(master);
#endif

7
rt/msr_rt.c
View File

@ -179,6 +179,13 @@ int __init init_rt_module(void)
goto out_release_master;
}
#if 0
if (ecrt_master_start_eoe(master)) {
printk(KERN_ERR "Failed to start EoE processing!\n");
goto out_deactivate;
}
#endif
#if 0
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");