etherlabmaster: comparison master/slave.c

equal deleted inserted replaced

-:ab0b96ac18bb
+:8b67602f5161
 init_waitqueue_head(&slave->foe_queue);
 INIT_LIST_HEAD(&slave->soe_requests);
 init_waitqueue_head(&slave->soe_queue);
-// init state machine datagram
+// init datagram
-ec_datagram_init(&slave->fsm_datagram);
+ec_datagram_init(&slave->datagram);
-snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,
+snprintf(slave->datagram.name, EC_DATAGRAM_NAME_SIZE,
 "slave%u-fsm", slave->ring_position);
-ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);
+ret = ec_datagram_prealloc(&slave->datagram, EC_MAX_DATA_SIZE);
 if (ret < 0) {
-ec_datagram_clear(&slave->fsm_datagram);
+ec_datagram_clear(&slave->datagram);
 EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");
 return;
 }
+ec_mbox_init(&slave->mbox,&slave->datagram);
 // create state machine object
-ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);
+ec_fsm_slave_init(&slave->fsm, slave, &slave->mbox);
 }
 /*****************************************************************************/
 /**
 while (!list_empty(&slave->slave_sdo_requests)) {
 ec_master_sdo_request_t *request =
 list_entry(slave->slave_sdo_requests.next,
 ec_master_sdo_request_t, list);
 list_del_init(&request->list); // dequeue
-EC_SLAVE_WARN(slave, "Discarding SDO request,"
+EC_SLAVE_WARN(slave, "Discarding SDO request %p,"
-" slave about to be deleted.\n");
+" slave about to be deleted.\n",request);
 request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_sdo_request_release);
 wake_up(&slave->sdo_queue);
 }
 while (!list_empty(&slave->foe_requests)) {
 ec_master_foe_request_t *request =
 ec_master_foe_request_t, list);
 list_del_init(&request->list); // dequeue
 EC_SLAVE_WARN(slave, "Discarding FoE request,"
 " slave about to be deleted.\n");
 request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_foe_request_release);
 wake_up(&slave->foe_queue);
 }
 while (!list_empty(&slave->soe_requests)) {
 ec_master_soe_request_t *request =
 ec_master_soe_request_t, list);
 list_del_init(&request->list); // dequeue
 EC_SLAVE_WARN(slave, "Discarding SoE request,"
 " slave about to be deleted.\n");
 request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_soe_request_release);
 wake_up(&slave->soe_queue);
 }
 if (slave->config)
 ec_slave_config_detach(slave->config);
 }
 if (slave->sii_words)
 kfree(slave->sii_words);
 ec_fsm_slave_clear(&slave->fsm);
-ec_datagram_clear(&slave->fsm_datagram);
+ec_mbox_clear(&slave->mbox);
 }
 /*****************************************************************************/
 /** Clear the sync manager array.
 }
 }
 /*****************************************************************************/
+/** returns the previous connected port of a given port.
+*/
+unsigned int ec_slave_get_previous_port(
+ec_slave_t *slave, /**< EtherCAT slave. */
+unsigned int i /**< Port index */
+)
+{
+do
+{
+switch (i)
+{
+case 0: i = 2; break;
+case 1: i = 3; break;
+case 2: i = 1; break;
+case 3:
+default:i = 0; break;
+}
+if (slave->ports[i].next_slave)
+return i;
+} while (i);
+return 0;
+}
+/*****************************************************************************/
+/** returns the next connected port of a given port.
+*/
+unsigned int ec_slave_get_next_port(
+ec_slave_t *slave, /**< EtherCAT slave. */
+unsigned int i /**< Port index */
+)
+{
+do
+{
+switch (i)
+{
+case 0: i = 3; break;
+case 1: i = 2; break;
+case 3: i = 1; break;
+case 2:
+default:i = 0; break;
+}
+if (slave->ports[i].next_slave)
+return i;
+} while (i);
+return 0;
+}
+/*****************************************************************************/
 /** Calculates the sum of round-trip-times of connected ports 1-3.
 */
 uint32_t ec_slave_calc_rtt_sum(
 ec_slave_t *slave /**< EtherCAT slave. */
 )
 {
 uint32_t rtt_sum = 0, rtt;
-unsigned int i;
+unsigned int i = ec_slave_get_next_port(slave,0);
+while (i != 0) {
-for (i = 1; i < EC_MAX_PORTS; i++) {
+rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
-if (slave->ports[i].next_slave) {
+rtt_sum += rtt;
-rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
+i = ec_slave_get_next_port(slave,i);
-rtt_sum += rtt;
-}
 }
 return rtt_sum;
 }
 */
 ec_slave_t *ec_slave_find_next_dc_slave(
 ec_slave_t *slave /**< EtherCAT slave. */
 )
 {
+unsigned int i;
 ec_slave_t *dc_slave = NULL;
 if (slave->base_dc_supported) {
 dc_slave = slave;
 } else {
-unsigned int i;
+i = ec_slave_get_next_port(slave,0);
+while (i != 0) {
-for (i = 1; i < EC_MAX_PORTS; i++) {
 ec_slave_t *next = slave->ports[i].next_slave;
 if (next) {
 dc_slave = ec_slave_find_next_dc_slave(next);
 if (dc_slave)
 break;
 }
+i = ec_slave_get_next_port(slave,i);
 }
 }
 return dc_slave;
 }
 void ec_slave_calc_port_delays(
 ec_slave_t *slave /**< EtherCAT slave. */
 )
 {
 unsigned int i;
-ec_slave_t *next, *next_dc;
+ec_slave_t *next_dc;
 uint32_t rtt, next_rtt_sum;
 if (!slave->base_dc_supported)
 return;
-for (i = 1; i < EC_MAX_PORTS; i++) {
+i = ec_slave_get_next_port(slave,0);
-next = slave->ports[i].next_slave;
+while (i != 0) {
-if (!next)
+next_dc = ec_slave_find_next_dc_slave(slave->ports[i].next_slave);
-continue;
+if (next_dc) {
-next_dc = ec_slave_find_next_dc_slave(next);
+rtt = slave->ports[i].receive_time - slave->ports[ec_slave_get_previous_port(slave,i)].receive_time;
-if (!next_dc)
+next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
-continue;
+slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
-rtt = slave->ports[i].receive_time - slave->ports[i - 1].receive_time;
+next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
-next_rtt_sum = ec_slave_calc_rtt_sum(next_dc);
-slave->ports[i].delay_to_next_dc = (rtt - next_rtt_sum) / 2; // FIXME
-next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
 #if 0
 EC_SLAVE_DBG(slave, 1, "delay %u:%u rtt=%u"
 " next_rtt_sum=%u delay=%u\n",
 slave->ring_position, i, rtt, next_rtt_sum,
 slave->ports[i].delay_to_next_dc);
 #endif
+}
+i = ec_slave_get_next_port(slave,i);
 }
 }
 /*****************************************************************************/
 ec_slave_t *slave, /**< Current slave. */
 uint32_t *delay /**< Sum of delays. */
 )
 {
 unsigned int i;
-ec_slave_t *next, *next_dc;
+ec_slave_t *next_dc;
-#if 0
+#if 1
 EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
 #endif
 slave->transmission_delay = *delay;
-for (i = 1; i < EC_MAX_PORTS; i++) {
+i = ec_slave_get_next_port(slave,0);
+while (i != 0) {
 ec_slave_port_t *port = &slave->ports[i];
-next = port->next_slave;
+next_dc = ec_slave_find_next_dc_slave(port->next_slave);
-if (!next)
+if (next_dc) {
-continue;
+*delay = *delay + port->delay_to_next_dc;
-next_dc = ec_slave_find_next_dc_slave(next);
-if (!next_dc)
-continue;
-*delay = *delay + port->delay_to_next_dc;
 #if 0
 EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
 #endif
 ec_slave_calc_transmission_delays_rec(next_dc, delay);
+}
+i = ec_slave_get_next_port(slave,i);
 }
 *delay = *delay + slave->ports[0].delay_to_next_dc;
 }

changeset 2060	8b67602f5161
parent 2045	ff2a13a4603c
child 2589	2b9c78543663