From c9e8fc62c9542e0b2587080d2e1961cff7b832f8 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Fri, 17 Mar 2006 16:25:02 +0000
Subject: [PATCH] =?UTF-8?q?ecrt=5Fmaster=5Fprepare=5Fasync=5Fio()=20hinzug?=
 =?UTF-8?q?ef=C3=BCgt.?=
MIME-Version: 1.0
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---
 include/ecrt.h  |  1 +
 master/master.c | 34 +++++++++++++++++++++++++++++++++-
 master/master.h |  1 +
 mini/mini.c     |  7 +++----
 rt/msr_module.c |  8 +++-----
 5 files changed, 41 insertions(+), 10 deletions(-)

diff --git a/include/ecrt.h b/include/ecrt.h
index 39bf82ca..b2739f19 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -49,6 +49,7 @@ void ecrt_master_deactivate(ec_master_t *master);
 void ecrt_master_sync_io(ec_master_t *master);
 void ecrt_master_async_send(ec_master_t *master);
 void ecrt_master_async_receive(ec_master_t *master);
+void ecrt_master_prepare_async_io(ec_master_t *master);
 void ecrt_master_debug(ec_master_t *master, int level);
 void ecrt_master_print(const ec_master_t *master);
 int ecrt_master_sdo_write(ec_master_t *master,
diff --git a/master/master.c b/master/master.c
index 4212f59f..68dcdce5 100644
--- a/master/master.c
+++ b/master/master.c
@@ -100,6 +100,7 @@ void ec_master_reset(ec_master_t *master
 
     master->command_index = 0;
     master->debug_level = 0;
+    master->timeout = 100; // us
     master->stats.timeouts = 0;
     master->stats.delayed = 0;
     master->stats.corrupted = 0;
@@ -857,7 +858,7 @@ void ecrt_master_sync_io(ec_master_t *master)
     ec_master_send_commands(master);
 
     t_start = get_cycles(); // Sendezeit nehmen
-    t_timeout = 100 * cpu_khz / 1000; // 100us
+    t_timeout = master->timeout * cpu_khz / 1000;
 
     do {
         ec_device_call_isr(master->device);
@@ -959,6 +960,37 @@ void ecrt_master_async_receive(ec_master_t *master)
 
 /*****************************************************************************/
 
+/**
+   Bereitet Synchronen Datenverkehr vor.
+
+   Fürgt einmal die Kommandos aller Domains zur Warteschlange hinzu, sendet
+   diese ab und wartet so lange, bis diese anschließend problemlos empfangen
+   werden können.
+*/
+
+void ecrt_master_prepare_async_io(ec_master_t *master)
+{
+    ec_domain_t *domain;
+    cycles_t t_start, t_end, t_timeout;
+
+    // Alle empfangenen Kommandos aus der Liste entfernen
+    list_for_each_entry(domain, &master->domains, list)
+        ecrt_domain_queue(domain);
+
+    ecrt_master_async_send(master);
+
+    t_start = get_cycles(); // Sendezeit nehmen
+    t_timeout = master->timeout * cpu_khz / 1000;
+
+    // Aktiv warten!
+    do {
+        t_end = get_cycles();
+    }
+    while (t_end - t_start < t_timeout);
+}
+
+/*****************************************************************************/
+
 /**
    Setzt die Debug-Ebene des Masters.
 
diff --git a/master/master.h b/master/master.h
index bfe248a8..0af61143 100644
--- a/master/master.h
+++ b/master/master.h
@@ -52,6 +52,7 @@ struct ec_master
     struct list_head domains; /**< Liste der Prozessdatendomänen */
     int debug_level; /**< Debug-Level im Master-Code */
     ec_stats_t stats; /**< Rahmen-Statistiken */
+    unsigned int timeout; /**< Timeout für synchronen Datenaustausch */
 };
 
 /*****************************************************************************/
diff --git a/mini/mini.c b/mini/mini.c
index 71fdee6e..f1f351f2 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -14,7 +14,7 @@
 
 #include "../include/ecrt.h" // Echtzeitschnittstelle
 
-//#define ASYNC
+#define ASYNC
 
 /*****************************************************************************/
 
@@ -115,9 +115,8 @@ int __init init_mini_module(void)
     }
 
 #ifdef ASYNC
-    ecrt_domain_queue(domain1);
-    ecrt_master_async_send(master);
-    udelay(100);
+    // Einmal senden und warten...
+    ecrt_master_prepare_async_io(master);
 #endif
 
     printk("Starting cyclic sample thread.\n");
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 3872f224..617ad768 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -37,7 +37,7 @@
 // EtherCAT
 #include "../include/ecrt.h"
 
-//#define ASYNC
+#define ASYNC
 
 // Defines/Makros
 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -229,10 +229,8 @@ int __init init_rt_module(void)
 #endif
 
 #ifdef ASYNC
-    ecrt_domain_queue(domain1);
-    ecrt_domain_queue(domain2);
-    ecrt_master_async_send(master);
-    udelay(100);
+    // Einmal senden und warten...
+    ecrt_master_prepare_async_io(master);
 #endif
 
     ipipe_init_attr(&attr);