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ethercat
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Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.

This commit is contained in:
Florian Pose 2008-07-01 15:38:20 +00:00
parent 131bcd7203
commit d942e87cef
5 changed files with 73 additions and 23 deletions
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5
master/cdev.c
View File

@ -138,8 +138,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
(u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
// FIXME lock
down(&master->master_sem);
switch (cmd) {
case EC_IOCTL_MASTER:
{
@ -1012,6 +1012,7 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
retval = -ENOTTY;
}
up(&master->master_sem);
return retval;
}

4
master/domain.c
View File

@ -344,10 +344,14 @@ size_t ecrt_domain_size(ec_domain_t *domain)
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)
{
down(&domain->master->master_sem);
ec_domain_clear_data(domain);
domain->data = mem;
domain->data_origin = EC_ORIG_EXTERNAL;
up(&domain->master->master_sem);
}
/*****************************************************************************/

34
master/master.c
View File

@ -85,6 +85,8 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->index = index;
master->reserved = 0;
init_MUTEX(&master->master_sem);
master->main_mac = main_mac;
master->backup_mac = backup_mac;
init_MUTEX(&master->device_sem);
@ -360,13 +362,13 @@ int ec_master_enter_idle_phase(
ec_master_t *master /**< EtherCAT master */
)
{
if (master->debug_level)
EC_DBG("ORPHANED -> IDLE.\n");
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
if (master->debug_level)
EC_DBG("ORPHANED -> IDLE.\n");
master->phase = EC_IDLE;
if (ec_master_thread_start(master, ec_master_idle_thread)) {
master->phase = EC_ORPHANED;
@ -391,7 +393,10 @@ void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
down(&master->master_sem);
ec_master_clear_slaves(master);
up(&master->master_sem);
}
/*****************************************************************************/
@ -457,9 +462,6 @@ int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
}
#endif
if (master->debug_level)
EC_DBG("Switching to operation phase.\n");
master->phase = EC_OPERATION;
master->ext_request_cb = NULL;
master->ext_release_cb = NULL;
@ -498,8 +500,10 @@ void ec_master_leave_operation_phase(ec_master_t *master
master->release_cb = ec_master_release_cb;
master->cb_data = master;
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
// set states for all slaves
for (slave = master->slaves;
@ -826,7 +830,9 @@ static int ec_master_idle_thread(ec_master_t *master)
goto schedule;
// execute master state machine
down(&master->master_sem);
ec_fsm_master_exec(&master->fsm);
up(&master->master_sem);
// queue and send
spin_lock_bh(&master->internal_lock);
@ -870,7 +876,9 @@ static int ec_master_operation_thread(ec_master_t *master)
ec_master_output_stats(master);
// execute master state machine
down(&master->master_sem);
ec_fsm_master_exec(&master->fsm);
up(&master->master_sem);
// inject datagram
master->injection_seq_fsm++;
@ -1146,6 +1154,8 @@ ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
return NULL;
}
down(&master->master_sem);
if (list_empty(&master->domains)) {
index = 0;
} else {
@ -1156,6 +1166,8 @@ ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
ec_domain_init(domain, master, index);
list_add_tail(&domain->list, &master->domains);
up(&master->master_sem);
return domain;
}
@ -1166,6 +1178,8 @@ int ecrt_master_activate(ec_master_t *master)
uint32_t domain_offset;
ec_domain_t *domain;
down(&master->master_sem);
// finish all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
@ -1175,6 +1189,8 @@ int ecrt_master_activate(ec_master_t *master)
}
domain_offset += domain->data_size;
}
up(&master->master_sem);
// restart EoE process and master thread with new locking
#ifdef EC_EOE
@ -1327,11 +1343,15 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
ec_slave_config_init(sc, master,
alias, position, vendor_id, product_code);
down(&master->master_sem);
// try to find the addressed slave
ec_slave_config_attach(sc);
ec_slave_config_load_default_sync_config(sc);
list_add_tail(&sc->list, &master->configs);
up(&master->master_sem);
}
return sc;

1
master/master.h
View File

@ -88,6 +88,7 @@ struct ec_master {
ec_cdev_t cdev; /**< Master character device. */
struct class_device *class_device; /**< Master class device. */
struct semaphore master_sem; /**< Master semaphore. */
ec_device_t main_device; /**< EtherCAT main device. */
const uint8_t *main_mac; /**< MAC address of main device. */

52
master/slave_config.c
View File

@ -151,7 +151,11 @@ int ec_slave_config_prepare_fmmu(
}
fmmu = &sc->fmmu_configs[sc->used_fmmus++];
down(&sc->master->master_sem);
ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
up(&sc->master->master_sem);
return fmmu->logical_start_address;
}
@ -388,11 +392,18 @@ int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
return -1;
}
if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index)))
down(&sc->master->master_sem);
if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,
pdo_index))) {
up(&sc->master->master_sem);
return -1;
}
pdo->sync_index = sync_index;
ec_slave_config_load_default_mapping(sc, pdo);
up(&sc->master->master_sem);
return 0;
}
@ -410,7 +421,9 @@ void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
return;
}
down(&sc->master->master_sem);
ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
up(&sc->master->master_sem);
}
/*****************************************************************************/
@ -421,6 +434,7 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
int retval = -1;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "
@ -434,14 +448,17 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (!pdo) {
if (pdo) {
down(&sc->master->master_sem);
retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length) ? 0 : -1;
up(&sc->master->master_sem);
} else {
EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
return -1;
}
return ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length) ? 0 : -1;
return retval;
}
/*****************************************************************************/
@ -461,13 +478,14 @@ void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (!pdo) {
if (pdo) {
down(&sc->master->master_sem);
ec_pdo_clear_entries(pdo);
up(&sc->master->master_sem);
} else {
EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
return;
}
ec_pdo_clear_entries(pdo);
}
/*****************************************************************************/
@ -563,11 +581,6 @@ int ecrt_slave_config_reg_pdo_entry(
if (entry->index != index || entry->subindex != subindex) {
bit_offset += entry->bit_length;
} else {
sync_offset = ec_slave_config_prepare_fmmu(
sc, domain, sync_index, sync_config->dir);
if (sync_offset < 0)
return -2;
bit_pos = bit_offset % 8;
if (bit_position) {
*bit_position = bit_pos;
@ -578,6 +591,11 @@ int ecrt_slave_config_reg_pdo_entry(
return -3;
}
sync_offset = ec_slave_config_prepare_fmmu(
sc, domain, sync_index, sync_config->dir);
if (sync_offset < 0)
return -2;
return sync_offset + bit_offset / 8;
}
}
@ -618,7 +636,10 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
return -1;
}
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_configs);
up(&sc->master->master_sem);
return 0;
}
@ -678,7 +699,10 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
memset(req->data, 0x00, size);
req->data_size = size;
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_requests);
up(&sc->master->master_sem);
return req;
}