Removed state machine cycle time measuring.
This commit is contained in:
Florian Pose
parent
cdd45226aa
commit
c233259931
1
TODO
1
TODO
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@ -13,7 +13,6 @@ Version 1.4.0:
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* READMEs for examples.
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* Update documentation.
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* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.
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* Remove Eoe cycles and Idle cycles.
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Future issues:
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@ -82,8 +82,6 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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struct class *class /**< Device class. */
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)
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{
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unsigned int i;
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master->index = index;
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master->reserved = 0;
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@ -122,16 +120,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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master->stats.output_jiffies = 0;
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master->frames_timed_out = 0;
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for (i = 0; i < HZ; i++) {
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master->idle_cycle_times[i] = 0;
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#ifdef EC_EOE
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master->eoe_cycle_times[i] = 0;
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#endif
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}
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master->idle_cycle_time_pos = 0;
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#ifdef EC_EOE
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master->eoe_cycle_time_pos = 0;
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init_timer(&master->eoe_timer);
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master->eoe_timer.function = ec_master_eoe_run;
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master->eoe_timer.data = (unsigned long) master;
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@ -822,13 +811,10 @@ void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
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*/
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static int ec_master_idle_thread(ec_master_t *master)
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{
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cycles_t cycles_start, cycles_end;
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daemonize("EtherCAT-IDLE");
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allow_signal(SIGTERM);
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while (!signal_pending(current)) {
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cycles_start = get_cycles();
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ec_datagram_output_stats(&master->fsm_datagram);
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// receive
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@ -848,12 +834,6 @@ static int ec_master_idle_thread(ec_master_t *master)
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ecrt_master_send(master);
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spin_unlock_bh(&master->internal_lock);
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cycles_end = get_cycles();
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master->idle_cycle_times[master->idle_cycle_time_pos]
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= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
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master->idle_cycle_time_pos++;
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master->idle_cycle_time_pos %= HZ;
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schedule:
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if (ec_fsm_master_idle(&master->fsm)) {
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set_current_state(TASK_INTERRUPTIBLE);
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@ -876,8 +856,6 @@ schedule:
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*/
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static int ec_master_operation_thread(ec_master_t *master)
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{
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cycles_t cycles_start, cycles_end;
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daemonize("EtherCAT-OP");
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allow_signal(SIGTERM);
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@ -888,8 +866,6 @@ static int ec_master_operation_thread(ec_master_t *master)
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master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
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goto schedule;
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cycles_start = get_cycles();
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// output statistics
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ec_master_output_stats(master);
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@ -899,12 +875,6 @@ static int ec_master_operation_thread(ec_master_t *master)
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// inject datagram
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master->injection_seq_fsm++;
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cycles_end = get_cycles();
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master->idle_cycle_times[master->idle_cycle_time_pos]
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= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
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master->idle_cycle_time_pos++;
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master->idle_cycle_time_pos %= HZ;
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schedule:
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if (ec_fsm_master_idle(&master->fsm)) {
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set_current_state(TASK_INTERRUPTIBLE);
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@ -972,7 +942,6 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
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ec_master_t *master = (ec_master_t *) data;
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ec_eoe_t *eoe;
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unsigned int none_open = 1;
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cycles_t cycles_start, cycles_end;
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unsigned long restart_jiffies;
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list_for_each_entry(eoe, &master->eoe_handlers, list) {
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@ -985,8 +954,9 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
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goto queue_timer;
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// receive datagrams
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if (master->request_cb(master->cb_data)) goto queue_timer;
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cycles_start = get_cycles();
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if (master->request_cb(master->cb_data))
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goto queue_timer;
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ecrt_master_receive(master);
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master->release_cb(master->cb_data);
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@ -1004,12 +974,6 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
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}
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ecrt_master_send(master);
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master->release_cb(master->cb_data);
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cycles_end = get_cycles();
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master->eoe_cycle_times[master->eoe_cycle_time_pos]
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= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
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master->eoe_cycle_time_pos++;
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master->eoe_cycle_time_pos %= HZ;
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queue_timer:
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restart_jiffies = HZ / EC_EOE_FREQUENCY;
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@ -135,15 +135,11 @@ struct ec_master {
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int thread_id; /**< Master thread PID. */
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struct completion thread_exit; /**< Thread completion object. */
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uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring. */
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unsigned int idle_cycle_time_pos; /**< time ring buffer position */
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#ifdef EC_EOE
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struct timer_list eoe_timer; /**< EoE timer object. */
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unsigned int eoe_running; /**< \a True, if EoE processing is active. */
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struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
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uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring. */
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unsigned int eoe_cycle_time_pos; /**< Time ring buffer position. */
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#endif
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spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
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