bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Moved sdo request queue to slaves

This commit is contained in:
Martin Troxler 2009-12-01 14:24:57 +01:00
parent cb33213076
commit abb3588747
7 changed files with 34 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
master/cdev.c
View File

@ -808,12 +808,12 @@ int ec_cdev_ioctl_slave_sdo_upload(
if (master->debug_level)
EC_DBG("Schedule SDO upload request for slave %u\n",request.slave->ring_position);
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
list_add_tail(&request.list, &request.slave->slave_sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
if (wait_event_interruptible(request.slave->sdo_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@ -828,7 +828,7 @@ int ec_cdev_ioctl_slave_sdo_upload(
}
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
wait_event(request.slave->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
if (master->debug_level)
EC_DBG("Scheduled SDO upload request for slave %u done\n",request.slave->ring_position);
@ -914,12 +914,12 @@ int ec_cdev_ioctl_slave_sdo_download(
if (master->debug_level)
EC_DBG("Schedule SDO download request for slave %u\n",request.slave->ring_position);
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
list_add_tail(&request.list, &request.slave->slave_sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
if (wait_event_interruptible(request.slave->sdo_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@ -934,7 +934,7 @@ int ec_cdev_ioctl_slave_sdo_download(
}
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
wait_event(request.slave->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
if (master->debug_level)
EC_DBG("Scheduled SDO download request for slave %u done\n",request.slave->ring_position);

4
master/fsm_master.c
View File

@ -1017,14 +1017,14 @@ void ec_fsm_master_state_sdo_request(
EC_DBG("Failed to process internal SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
wake_up(&fsm->slave->sdo_queue);
ec_fsm_master_restart(fsm);
return;
}
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&master->sdo_queue);
wake_up(&fsm->slave->sdo_queue);
if (master->debug_level)
EC_DBG("Finished internal SDO request for slave %u.\n",

10
master/fsm_slave.c
View File

@ -115,9 +115,7 @@ void ec_fsm_slave_state_idle(
ec_master_sdo_request_t *request, *next;
// search the first matching external request to be processed
list_for_each_entry_safe(request, next, &master->slave_sdo_requests, list) {
if (request->slave != slave)
continue;
list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
@ -125,7 +123,7 @@ void ec_fsm_slave_state_idle(
EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
wake_up(&slave->sdo_queue);
continue;
}
@ -165,7 +163,7 @@ void ec_fsm_slave_state_sdo_request(
EC_DBG("Failed to process SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return;
@ -173,7 +171,7 @@ void ec_fsm_slave_state_sdo_request(
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&master->sdo_queue);
wake_up(&slave->sdo_queue);
if (master->debug_level)
EC_DBG("Finished SDO request for slave %u.\n",

34
master/master.c
View File

@ -184,9 +184,6 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
INIT_LIST_HEAD(&master->sii_requests);
init_waitqueue_head(&master->sii_queue);
INIT_LIST_HEAD(&master->slave_sdo_requests);
init_waitqueue_head(&master->sdo_queue);
INIT_LIST_HEAD(&master->reg_requests);
init_waitqueue_head(&master->reg_queue);
@ -405,21 +402,6 @@ void ec_master_clear_slaves(ec_master_t *master)
wake_up(&master->reg_queue);
}
// SDO requests
while (1) {
ec_master_sdo_request_t *request;
if (list_empty(&master->slave_sdo_requests))
break;
// get first request
request = list_entry(master->slave_sdo_requests.next,
ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",
request->slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
}
// FoE requests
while (1) {
ec_master_foe_request_t *request;
@ -438,6 +420,20 @@ void ec_master_clear_slaves(ec_master_t *master)
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
// SDO requests
while (1) {
ec_master_sdo_request_t *request;
if (list_empty(&slave->slave_sdo_requests))
break;
// get first request
request = list_entry(slave->slave_sdo_requests.next,
ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",
request->slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
}
ec_slave_clear(slave);
}
@ -770,6 +766,8 @@ void ec_master_queue_sdo_datagram(
#endif
datagram->jiffies_sent = jiffies;
master->fsm.idle = 0;
down(&master->io_sem);
list_add_tail(&datagram->queue, &master->sdo_datagram_queue);
up(&master->io_sem);

4
master/master.h
View File

@ -185,10 +185,6 @@ struct ec_master {
wait_queue_head_t sii_queue; /**< Wait queue for SII
write requests from user space. */
struct list_head slave_sdo_requests; /**< SDO access requests. */
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
from user space. */
struct list_head reg_requests; /**< Register requests. */
wait_queue_head_t reg_queue; /**< Wait queue for register requests. */

3
master/slave.c
View File

@ -149,6 +149,9 @@ void ec_slave_init(
slave->sdo_dictionary_fetched = 0;
slave->jiffies_preop = 0;
INIT_LIST_HEAD(&slave->slave_sdo_requests);
init_waitqueue_head(&slave->sdo_queue);
// init state machine datagram
ec_datagram_init(&slave->fsm_datagram);
snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);

3
master/slave.h
View File

@ -159,6 +159,9 @@ struct ec_slave
uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
struct list_head slave_sdo_requests; /**< SDO access requests. */
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
from user space. */
ec_fsm_slave_t fsm; /**< Slave state machine. */
ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
};