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ethercat
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Changes in ecrt_request_master(); minor output changes.

This commit is contained in:
Florian Pose 2006-09-26 16:16:13 +00:00
parent 8825f075ac
commit e63c611a0f
4 changed files with 29 additions and 19 deletions
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2
master/domain.c
View File

@ -357,7 +357,7 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
}
}
EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s\n",
EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s.\n",
domain->index, domain->data_size, datagram_count,
datagram_count == 1 ? "" : "s");

7
master/master.c
View File

@ -1051,9 +1051,10 @@ void ec_master_calc_addressing(ec_master_t *master /**< EtherCAT master */)
/**
Measures the time, a frame is on the bus.
\return 0 in case of success, else < 0
*/
void ec_master_measure_bus_time(ec_master_t *master)
int ec_master_measure_bus_time(ec_master_t *master)
{
ec_datagram_t datagram;
cycles_t cycles_start, cycles_end, cycles_timeout;
@ -1064,7 +1065,7 @@ void ec_master_measure_bus_time(ec_master_t *master)
if (ec_datagram_brd(&datagram, 0x130, 2)) {
EC_ERR("Failed to allocate datagram for bus time measuring.\n");
ec_datagram_clear(&datagram);
return;
return -1;
}
cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
@ -1103,11 +1104,13 @@ void ec_master_measure_bus_time(ec_master_t *master)
EC_INFO("Bus time is (min/avg/max) %u/%u.%u/%u us.\n",
min, sum / 100, sum % 100, max);
return 0;
error:
// Dequeue and free datagram
list_del(&datagram.queue);
ec_datagram_clear(&datagram);
return -1;
}
/******************************************************************************

2
master/master.h
View File

@ -161,7 +161,7 @@ int ec_master_bus_scan(ec_master_t *);
// misc.
void ec_master_output_stats(ec_master_t *);
void ec_master_clear_slaves(ec_master_t *);
void ec_master_measure_bus_time(ec_master_t *);
int ec_master_measure_bus_time(ec_master_t *);
// other methods
void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *);

37
master/module.c
View File

@ -420,34 +420,41 @@ ec_master_t *ecrt_request_master(unsigned int master_index
goto out_release;
}
if (!try_module_get(master->device->module)) {
if (!try_module_get(master->device->module)) { // possible race?
EC_ERR("Failed to reserve device module!\n");
goto out_release;
}
ec_master_measure_bus_time(master);
ec_master_idle_stop(master);
ec_master_reset(master);
master->mode = EC_MASTER_MODE_OPERATION;
if (!master->device->link_state) EC_WARN("Link is DOWN.\n");
if (ec_master_bus_scan(master)) {
EC_ERR("Bus scan failed!\n");
if (!master->device->link_state) {
EC_ERR("Link is DOWN.\n");
goto out_module_put;
}
EC_INFO("Master %i is ready.\n", master_index);
ec_master_reset(master); // also stops idle mode
master->mode = EC_MASTER_MODE_OPERATION;
if (ec_master_measure_bus_time(master)) {
EC_ERR("Bus time measuring failed!\n");
goto out_reset;
}
if (ec_master_bus_scan(master)) {
EC_ERR("Bus scan failed!\n");
goto out_reset;
}
EC_INFO("Successfully requested master %i.\n", master_index);
return master;
out_module_put:
module_put(master->device->module);
out_reset:
ec_master_reset(master);
ec_master_idle_start(master);
out_module_put:
module_put(master->device->module);
out_release:
master->reserved = 0;
out_return:
EC_ERR("Failed requesting master %i.\n", master_index);
EC_ERR("Failed to request master %i.\n", master_index);
return NULL;
}
@ -473,7 +480,7 @@ void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)
module_put(master->device->module);
master->reserved = 0;
EC_INFO("Released master %i.\n", master->index);
EC_INFO("Successfully released master %i.\n", master->index);
return;
}