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ethercat
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Started freerun state machine development.

This commit is contained in:
Florian Pose 2006-05-12 14:48:24 +00:00
parent 0afb6324b8
commit df6f48c98a
2 changed files with 128 additions and 28 deletions
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150
master/master.c
View File

@ -45,7 +45,7 @@
/*****************************************************************************/
void ec_master_freerun(unsigned long);
void ec_master_freerun(void *);
#ifdef EOE_TIMER
void ec_master_run_eoe(unsigned long);
#else
@ -54,6 +54,11 @@ void ec_master_run_eoe(void *);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
// state functions
void ec_master_state_start(ec_master_t *);
void ec_master_state_slave(ec_master_t *);
void ec_master_state_finished(ec_master_t *);
/*****************************************************************************/
/** \cond */
@ -105,10 +110,13 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
// init freerun timer
init_timer(&master->freerun_timer);
master->freerun_timer.function = ec_master_freerun;
master->freerun_timer.data = (unsigned long) master;
if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {
EC_ERR("Failed to create master workqueue.\n");
goto out_return;
}
// init freerun work
INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
// init eoe timer
#ifdef EOE_TIMER
@ -116,10 +124,6 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->eoe_timer.function = ec_master_run_eoe;
master->eoe_timer.data = (unsigned long) master;
#else
if (!(master->eoe_workqueue = create_singlethread_workqueue("EoE"))) {
EC_ERR("Failed to create EoE workqueue.\n");
goto out_return;
}
INIT_WORK(&master->eoe_work, ec_master_run_eoe, (void *) master);
#endif
@ -137,9 +141,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
out_kobj_put:
kobject_put(&master->kobj);
#ifndef EOE_TIMER
out_return:
#endif
return -1;
}
@ -167,9 +169,7 @@ void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
ec_command_clear(&master->simple_command);
ec_command_clear(&master->watch_command);
#ifndef EOE_TIMER
if (master->eoe_workqueue) destroy_workqueue(master->eoe_workqueue);
#endif
destroy_workqueue(master->workqueue);
EC_INFO("Master %i cleared.\n", master->index);
}
@ -193,10 +193,8 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
#ifdef EOE_TIMER
del_timer_sync(&master->eoe_timer);
#else
if (master->eoe_workqueue) {
if (!cancel_delayed_work(&master->eoe_work)) {
flush_workqueue(master->eoe_workqueue);
}
if (!cancel_delayed_work(&master->eoe_work)) {
flush_workqueue(master->eoe_workqueue);
}
#endif
@ -678,10 +676,11 @@ void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
}
}
ecrt_master_prepare_async_io(master);
master->freerun_state = ec_master_state_start;
master->freerun_timer.expires = jiffies + 10;
add_timer(&master->freerun_timer);
ecrt_master_prepare_async_io(master); /** \todo necessary? */
queue_delayed_work(master->workqueue, &master->freerun_work, HZ);
}
/*****************************************************************************/
@ -692,11 +691,23 @@ void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave, *next_slave;
if (master->mode != EC_MASTER_MODE_FREERUN) return;
EC_INFO("Stopping Free-Run mode.\n");
del_timer_sync(&master->freerun_timer);
if (!cancel_delayed_work(&master->freerun_work)) {
flush_workqueue(master->workqueue);
}
// remove slaves
list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
list_del(&slave->list);
kobject_del(&slave->kobj);
kobject_put(&slave->kobj);
}
master->mode = EC_MASTER_MODE_IDLE;
}
@ -706,7 +717,7 @@ void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
Free-Run mode function.
*/
void ec_master_freerun(unsigned long data /**< private timer data = master */)
void ec_master_freerun(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
@ -714,14 +725,101 @@ void ec_master_freerun(unsigned long data /**< private timer data = master */)
// watchdog command
ec_master_process_watch_command(master);
if (master->watch_command.working_counter != master->slave_count) {
master->slave_count = master->watch_command.working_counter;
EC_INFO("Freerun: Topology change detected.\n");
// reset freerun state machine
master->freerun_state = ec_master_state_start;
}
ec_master_queue_command(master, &master->watch_command);
master->slave_count = master->watch_command.working_counter;
// execute freerun state machine
master->freerun_state(master);
ecrt_master_async_send(master);
master->freerun_timer.expires += HZ;
add_timer(&master->freerun_timer);
queue_delayed_work(master->workqueue, &master->freerun_work, HZ);
}
/*****************************************************************************/
/**
Free-Run state: Start.
Processes new slave count.
*/
void ec_master_state_start(ec_master_t *master /**< EtherCAT master*/)
{
ec_slave_t *slave, *next_slave;
unsigned int i;
// remove slaves
list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
list_del(&slave->list);
kobject_del(&slave->kobj);
kobject_put(&slave->kobj);
}
if (!master->slave_count) {
// no slaves present -> finish state machine.
master->freerun_state = ec_master_state_finished;
EC_INFO("Freerun: No slaves found.\n");
return;
}
// init slaves
for (i = 0; i < master->slave_count; i++) {
if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
GFP_KERNEL))) {
EC_ERR("Failed to allocate slave %i!\n", i);
master->freerun_state = ec_master_state_finished;
return;
}
if (ec_slave_init(slave, master, i, i + 1)) {
master->freerun_state = ec_master_state_finished;
return;
}
if (kobject_add(&slave->kobj)) {
EC_ERR("Failed to add kobject.\n");
kobject_put(&slave->kobj); // free
master->freerun_state = ec_master_state_finished;
return;
}
list_add_tail(&slave->list, &master->slaves);
}
// begin scanning of slaves
master->freerun_slave = list_entry(master->slaves.next, ec_slave_t, list);
master->freerun_state = ec_master_state_slave;
}
/*****************************************************************************/
/**
Free-Run state: Get Slave.
Executes the sub-statemachine of a slave.
*/
void ec_master_state_slave(ec_master_t *master /**< EtherCAT master*/)
{
master->freerun_state = ec_master_state_finished;
}
/*****************************************************************************/
/**
Free-Run state: Finished.
End state of the state machine. Does nothing.
*/
void ec_master_state_finished(ec_master_t *master /**< EtherCAT master*/)
{
return;
}
/*****************************************************************************/

6
master/master.h
View File

@ -102,7 +102,10 @@ struct ec_master
unsigned int timeout; /**< timeout in synchronous IO */
struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
unsigned int reserved; /**< true, if the master is reserved for RT */
struct timer_list freerun_timer; /**< timer object for free run mode */
struct workqueue_struct *workqueue; /**< master workqueue */
struct work_struct freerun_work; /**< free run work object */
void (*freerun_state)(ec_master_t *); /**< freerun state function */
ec_slave_t *freerun_slave; /**< current slave in bus scan */
ec_master_mode_t mode; /**< master mode */
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
@ -110,7 +113,6 @@ struct ec_master
#ifdef EOE_TIMER
struct timer_list eoe_timer; /** EoE timer object */
#else
struct workqueue_struct *eoe_workqueue; /**< EoE workqueue */
struct work_struct eoe_work; /**< work structure for EoE workqueue */
#endif
};