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ethercat
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removed eoe thread: eoe processing now done by Idle/Operation thread

This commit is contained in:
Martin Troxler 2010-12-16 11:23:32 +01:00
parent 902a3e3728
commit c15f66ae48
4 changed files with 56 additions and 155 deletions
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5
master/ethernet.c
View File

@ -323,7 +323,8 @@ void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
return;
// if the datagram was not sent, or is not yet received, skip this cycle
if (eoe->queue_datagram || eoe->datagram.state == EC_DATAGRAM_SENT)
if (eoe->queue_datagram ||
eoe->datagram.state == EC_DATAGRAM_SENT || eoe->datagram.state == EC_DATAGRAM_QUEUED)
return;
// call state function
@ -348,7 +349,7 @@ void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
void ec_eoe_queue(ec_eoe_t *eoe /**< EoE handler */)
{
if (eoe->queue_datagram) {
ec_master_queue_datagram_ext(eoe->slave->master, &eoe->datagram);
ec_master_queue_fsm_datagram(eoe->slave->master, &eoe->datagram);
eoe->queue_datagram = 0;
}
}

10
master/fsm_master.c
View File

@ -215,10 +215,6 @@ void ec_fsm_master_state_broadcast(
EC_MASTER_DBG(master, 1, "Master state machine detected "
"link down. Clearing slave list.\n");
#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
#endif
ec_master_clear_slaves(master);
fsm->slave_states = 0x00;
}
@ -255,7 +251,6 @@ void ec_fsm_master_state_broadcast(
fsm->scan_jiffies = jiffies;
#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
#endif
ec_master_clear_slaves(master);
@ -806,11 +801,6 @@ void ec_fsm_master_state_scan_slave(
// Attach slave configurations
ec_master_attach_slave_configs(master);
#ifdef EC_EOE
// check if EoE processing has to be started
ec_master_eoe_start(master);
#endif
if (master->slave_count) {
fsm->slave = master->slaves; // begin with first slave
ec_fsm_master_enter_write_system_times(fsm);

190
master/master.c
View File

@ -89,7 +89,7 @@ void ec_master_clear_domains(ec_master_t *);
static int ec_master_idle_thread(void *);
static int ec_master_operation_thread(void *);
#ifdef EC_EOE
static int ec_master_eoe_thread(void *);
static int ec_master_eoe_processing(ec_master_t *);
#endif
void ec_master_find_dc_ref_clock(ec_master_t *);
@ -573,9 +573,6 @@ void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
master->phase = EC_ORPHANED;
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
down(&master->master_sem);
@ -1301,6 +1298,10 @@ static int ec_master_idle_thread(void *priv_data)
slave++) {
ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
}
#if defined(EC_EOE)
if (!ec_master_eoe_processing(master))
master->fsm.idle = 0; // pump the bus as fast as possible
#endif
up(&master->master_sem);
// queue and send
@ -1360,6 +1361,9 @@ static int ec_master_operation_thread(void *priv_data)
slave++) {
ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
}
#if defined(EC_EOE)
ec_master_eoe_processing(master);
#endif
up(&master->master_sem);
#ifdef EC_USE_HRTIMER
@ -1383,119 +1387,48 @@ static int ec_master_operation_thread(void *priv_data)
/*****************************************************************************/
#ifdef EC_EOE
/** Starts Ethernet over EtherCAT processing on demand.
*/
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
{
struct sched_param param = { .sched_priority = 0 };
if (master->eoe_thread) {
EC_MASTER_WARN(master, "EoE already running!\n");
return;
}
if (list_empty(&master->eoe_handlers))
return;
if (!master->send_cb || !master->receive_cb) {
EC_MASTER_WARN(master, "No EoE processing"
" because of missing callbacks!\n");
return;
}
EC_MASTER_INFO(master, "Starting EoE thread.\n");
master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
"EtherCAT-EoE");
if (IS_ERR(master->eoe_thread)) {
int err = (int) PTR_ERR(master->eoe_thread);
EC_MASTER_ERR(master, "Failed to start EoE thread (error %i)!\n",
err);
master->eoe_thread = NULL;
return;
}
sched_setscheduler(master->eoe_thread, SCHED_NORMAL, &param);
set_user_nice(master->eoe_thread, 0);
}
/*****************************************************************************/
/** Stops the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
if (master->eoe_thread) {
EC_MASTER_INFO(master, "Stopping EoE thread.\n");
kthread_stop(master->eoe_thread);
master->eoe_thread = NULL;
EC_MASTER_INFO(master, "EoE thread exited.\n");
}
}
/*****************************************************************************/
/** Does the Ethernet over EtherCAT processing.
*/
static int ec_master_eoe_thread(void *priv_data)
static int ec_master_eoe_processing(ec_master_t *master)
{
ec_master_t *master = (ec_master_t *) priv_data;
ec_eoe_t *eoe;
unsigned int none_open, sth_to_send, all_idle;
none_open = 1;
all_idle = 1;
EC_MASTER_DBG(master, 1, "EoE thread running.\n");
while (!kthread_should_stop()) {
none_open = 1;
all_idle = 1;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
break;
}
}
if (none_open)
goto schedule;
// receive datagrams
master->receive_cb(master->cb_data);
// actual EoE processing
sth_to_send = 0;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
if (eoe->queue_datagram) {
sth_to_send = 1;
}
if (!ec_eoe_is_idle(eoe)) {
all_idle = 0;
}
}
if (sth_to_send) {
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_queue(eoe);
}
// (try to) send datagrams
down(&master->ext_queue_sem);
master->send_cb(master->cb_data);
up(&master->ext_queue_sem);
}
schedule:
if (all_idle) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
} else {
schedule();
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
break;
}
}
EC_MASTER_DBG(master, 1, "EoE thread exiting...\n");
return 0;
if (none_open)
return all_idle;
// actual EoE processing
sth_to_send = 0;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
if (eoe->queue_datagram) {
sth_to_send = 1;
}
if (!ec_eoe_is_idle(eoe)) {
all_idle = 0;
}
}
if (sth_to_send) {
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_queue(eoe);
}
}
return all_idle;
}
#endif
#endif // EC_EOE
/*****************************************************************************/
@ -1992,9 +1925,6 @@ int ecrt_master_activate(ec_master_t *master)
uint32_t domain_offset;
ec_domain_t *domain;
int ret;
#ifdef EC_EOE
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
@ -2022,10 +1952,6 @@ int ecrt_master_activate(ec_master_t *master)
// restart EoE process and master thread with new locking
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
@ -2036,11 +1962,6 @@ int ecrt_master_activate(ec_master_t *master)
master->receive_cb = master->app_receive_cb;
master->cb_data = master->app_cb_data;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
@ -2065,7 +1986,6 @@ void ecrt_master_deactivate(ec_master_t *master)
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
@ -2076,10 +1996,6 @@ void ecrt_master_deactivate(ec_master_t *master)
}
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
@ -2091,32 +2007,32 @@ void ecrt_master_deactivate(ec_master_t *master)
slave < master->slaves + master->slave_count;
slave++) {
// set states for all slaves
// set state to PREOP for all but eoe slaves
#ifdef EC_EOE
// ... but leave EoE slaves in OP
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (slave != eoe->slave || !ec_eoe_is_open(eoe)) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
}
}
#else
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
}
#ifdef EC_EOE
// ... but leave EoE slaves in OP
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe))
ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
}
#endif
}
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_app_time = 0;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
EC_MASTER_WARN(master, "Failed to restart master thread!\n");

6
master/master.h
View File

@ -264,12 +264,6 @@ void ec_master_leave_idle_phase(ec_master_t *);
int ec_master_enter_operation_phase(ec_master_t *);
void ec_master_leave_operation_phase(ec_master_t *);
#ifdef EC_EOE
// EoE
void ec_master_eoe_start(ec_master_t *);
void ec_master_eoe_stop(ec_master_t *);
#endif
// datagram IO
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);