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ethercat
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Internal locking callbacks, improved locking.

This commit is contained in:
Florian Pose 2007-01-08 15:01:18 +00:00
parent 680c2146f2
commit ed70ae4999
1 changed files with 44 additions and 30 deletions
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74
master/master.c
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@ -329,11 +329,38 @@ void ec_master_flush_sdo_requests(ec_master_t *master)
/*****************************************************************************/
/**
Internal locking callback.
*/
int ec_master_request_cb(void *master /**< callback data */)
{
spin_lock(&((ec_master_t *) master)->internal_lock);
return 0;
}
/*****************************************************************************/
/**
Internal unlocking callback.
*/
void ec_master_release_cb(void *master /**< callback data */)
{
spin_unlock(&((ec_master_t *) master)->internal_lock);
}
/*****************************************************************************/
/**
*/
int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
master->mode = EC_MASTER_MODE_IDLE;
queue_delayed_work(master->workqueue, &master->idle_work, 1);
return 0;
@ -455,9 +482,9 @@ void ec_master_leave_operation_mode(ec_master_t *master
ec_master_destroy_domains(master);
master->request_cb = NULL;
master->release_cb = NULL;
master->cb_data = NULL;
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
master->mode = EC_MASTER_MODE_IDLE;
queue_delayed_work(master->workqueue, &master->idle_work, 1);
@ -739,20 +766,21 @@ void ec_master_idle_run(void *data /**< master pointer */)
ec_master_t *master = (ec_master_t *) data;
cycles_t cycles_start, cycles_end;
// aquire master lock
spin_lock_bh(&master->internal_lock);
cycles_start = get_cycles();
// receive
spin_lock_bh(&master->internal_lock);
ecrt_master_receive(master);
spin_unlock_bh(&master->internal_lock);
// execute master state machine
ec_fsm_exec(&master->fsm);
// send
spin_lock_bh(&master->internal_lock);
ecrt_master_send(master);
cycles_end = get_cycles();
// release master lock
spin_unlock_bh(&master->internal_lock);
cycles_end = get_cycles();
master->idle_cycle_times[master->idle_cycle_time_pos]
= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
@ -1111,36 +1139,22 @@ void ec_master_eoe_run(unsigned long data /**< master pointer */)
}
if (!active) goto queue_timer;
// aquire master lock...
if (master->mode == EC_MASTER_MODE_OPERATION) {
// request_cb must return 0, if the lock has been aquired!
if (master->request_cb(master->cb_data))
goto queue_timer;
}
else if (master->mode == EC_MASTER_MODE_IDLE) {
spin_lock(&master->internal_lock);
}
else
goto queue_timer;
// actual EoE processing
// receive datagrams
if (master->request_cb(master->cb_data)) goto queue_timer;
cycles_start = get_cycles();
ecrt_master_receive(master);
master->release_cb(master->cb_data);
// actual EoE processing
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
}
// send datagrams
if (master->request_cb(master->cb_data)) goto queue_timer;
ecrt_master_send(master);
cycles_end = get_cycles();
// release lock...
if (master->mode == EC_MASTER_MODE_OPERATION) {
master->release_cb(master->cb_data);
}
else if (master->mode == EC_MASTER_MODE_IDLE) {
spin_unlock(&master->internal_lock);
}
master->release_cb(master->cb_data);
master->eoe_cycle_times[master->eoe_cycle_time_pos]
= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;