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ethercat
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Improved datagram reception in sync_io and frame dequeuing.

This commit is contained in:
Florian Pose 2006-08-15 08:48:00 +00:00
parent dfc4089c4c
commit ff83e87344
2 changed files with 25 additions and 47 deletions
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8
master/datagram.h
View File

@ -74,10 +74,10 @@ typedef enum
{
EC_DATAGRAM_INIT, /**< new datagram */
EC_DATAGRAM_QUEUED, /**< datagram queued by master */
EC_DATAGRAM_SENT, /**< datagram has been sent */
EC_DATAGRAM_RECEIVED, /**< datagram has been received */
EC_DATAGRAM_TIMED_OUT, /**< datagram timed out */
EC_DATAGRAM_ERROR /**< error while sending/receiving */
EC_DATAGRAM_SENT, /**< datagram has been sent and still in the queue */
EC_DATAGRAM_RECEIVED, /**< datagram has been received and dequeued */
EC_DATAGRAM_TIMED_OUT, /**< datagram timed out and was dequeued */
EC_DATAGRAM_ERROR /**< error while sending/receiving, datagram dequeued */
}
ec_datagram_state_t;

64
master/master.c
View File

@ -227,8 +227,8 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
// empty datagram queue
list_for_each_entry_safe(datagram, next_c,
&master->datagram_queue, queue) {
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_ERROR;
list_del_init(&datagram->queue);
}
// clear domains
@ -422,6 +422,10 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
unsigned int cmd_follows, matched;
const uint8_t *cur_data;
ec_datagram_t *datagram;
cycles_t cycles_received, cycles_timeout;
cycles_received = get_cycles();
cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
master->stats.corrupted++;
@ -477,7 +481,7 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
continue;
}
// copy received data in the datagram memory
// copy received data into the datagram memory
memcpy(datagram->data, cur_data, data_size);
cur_data += data_size;
@ -488,6 +492,12 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
// dequeue the received datagram
datagram->state = EC_DATAGRAM_RECEIVED;
list_del_init(&datagram->queue);
// was the datagram reception delayed?
if (cycles_received - datagram->cycles_sent > cycles_timeout) {
master->stats.delayed++;
ec_master_output_stats(master);
}
}
}
@ -1237,50 +1247,23 @@ void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *n;
unsigned int datagrams_sent;
cycles_t cycles_start, cycles_end, cycles_timeout;
ec_datagram_t *datagram;
unsigned int datagrams_waiting;
// send datagrams
ecrt_master_send(master);
cycles_start = get_cycles(); // measure io time
cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
while (1) { // active waiting
ec_device_call_isr(master->device);
ecrt_master_receive(master); // receive and dequeue datagrams
cycles_end = get_cycles(); // take current time
if (cycles_end - cycles_start >= cycles_timeout) break; // timeout!
datagrams_sent = 0;
list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
if (datagram->state == EC_DATAGRAM_RECEIVED)
list_del_init(&datagram->queue);
else if (datagram->state == EC_DATAGRAM_SENT)
datagrams_sent++;
// count number of datagrams still waiting for response
datagrams_waiting = 0;
list_for_each_entry(datagram, &master->datagram_queue, queue) {
datagrams_waiting++;
}
if (!datagrams_sent) break;
}
// timeout; dequeue all datagrams
list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
switch (datagram->state) {
case EC_DATAGRAM_SENT:
case EC_DATAGRAM_QUEUED:
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
ec_master_output_stats(master);
break;
case EC_DATAGRAM_RECEIVED:
master->stats.delayed++;
ec_master_output_stats(master);
break;
default:
break;
}
list_del_init(&datagram->queue);
// if there are no more datagrams waiting, abort loop.
if (!datagrams_waiting) break;
}
}
@ -1328,11 +1311,6 @@ void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
cycles_received = get_cycles();
cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
// dequeue all received datagrams
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue)
if (datagram->state == EC_DATAGRAM_RECEIVED)
list_del_init(&datagram->queue);
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
switch (datagram->state) {