etherlabmaster: comparison master/master.c

equal deleted inserted replaced

-:440ae5f6d2c3
+:c1d0b63a9302
 #include "ethernet.h"
 /*****************************************************************************/
 void ec_master_freerun(void *);
-void ec_master_run_eoe(unsigned long);
+void ec_master_eoe_run(unsigned long);
 ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
 void ec_master_process_watch_command(ec_master_t *);
 /*****************************************************************************/
 Master constructor.
 \return 0 in case of success, else < 0
 */
 int ec_master_init(ec_master_t *master, /**< EtherCAT master */
-unsigned int index /**< master index */
+unsigned int index, /**< master index */
+unsigned int eoe_devices /**< number of EoE devices */
 )
 {
+ec_eoe_t *eoe, *next_eoe;
+unsigned int i;
 EC_INFO("Initializing master %i.\n", index);
-if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {
-EC_ERR("Failed to create master workqueue.\n");
-goto out_return;
-}
-if (ec_fsm_init(&master->fsm, master)) goto out_free_wq;
 master->index = index;
 master->device = NULL;
 master->reserved = 0;
 INIT_LIST_HEAD(&master->slaves);
 INIT_LIST_HEAD(&master->command_queue);
 INIT_LIST_HEAD(&master->domains);
-INIT_LIST_HEAD(&master->eoe_slaves);
+INIT_LIST_HEAD(&master->eoe_handlers);
 ec_command_init(&master->simple_command);
 INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
 init_timer(&master->eoe_timer);
-master->eoe_timer.function = ec_master_run_eoe;
+master->eoe_timer.function = ec_master_eoe_run;
 master->eoe_timer.data = (unsigned long) master;
+master->internal_lock = SPIN_LOCK_UNLOCKED;
+master->eoe_running = 0;
+// create workqueue
+if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
+EC_ERR("Failed to create master workqueue.\n");
+goto out_return;
+}
+// create EoE handlers
+for (i = 0; i < eoe_devices; i++) {
+if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
+EC_ERR("Failed to allocate EoE-Object.\n");
+goto out_clear_eoe;
+}
+if (ec_eoe_init(eoe)) {
+kfree(eoe);
+goto out_clear_eoe;
+}
+list_add_tail(&eoe->list, &master->eoe_handlers);
+}
+// create state machine object
+if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
 // init kobject and add it to the hierarchy
 memset(&master->kobj, 0x00, sizeof(struct kobject));
 kobject_init(&master->kobj);
 master->kobj.ktype = &ktype_ec_master;
 }
 ec_master_reset(master);
 return 0;
-out_free_wq:
+out_clear_eoe:
+list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+list_del(&eoe->list);
+ec_eoe_clear(eoe);
+kfree(eoe);
+}
 destroy_workqueue(master->workqueue);
 out_return:
 return -1;
 }
 */
 void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
 {
 ec_master_t *master = container_of(kobj, ec_master_t, kobj);
+ec_eoe_t *eoe, *next_eoe;
 EC_INFO("Clearing master %i...\n", master->index);
 ec_master_reset(master);
 ec_fsm_clear(&master->fsm);
 ec_command_clear(&master->simple_command);
 destroy_workqueue(master->workqueue);
+// clear EoE objects
+list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+list_del(&eoe->list);
+ec_eoe_clear(eoe);
+kfree(eoe);
+}
 if (master->device) {
 ec_device_clear(master->device);
 kfree(master->device);
 }
 void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
 {
 ec_command_t *command, *next_c;
 ec_domain_t *domain, *next_d;
-ec_eoe_t *eoe, *next_eoe;
+ec_master_eoe_stop(master);
-// stop EoE processing
-del_timer_sync(&master->eoe_timer);
-// stop free-run mode
 ec_master_freerun_stop(master);
 ec_master_clear_slaves(master);
 // empty command queue
 list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
 list_del_init(&command->queue);
 // clear domains
 list_for_each_entry_safe(domain, next_d, &master->domains, list) {
 list_del(&domain->list);
 kobject_del(&domain->kobj);
 kobject_put(&domain->kobj);
-}
-// clear EoE objects
-list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {
-list_del(&eoe->list);
-ec_eoe_clear(eoe);
-kfree(eoe);
 }
 master->command_index = 0;
 master->debug_level = 0;
 master->timeout = 500; // 500us
 void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
 {
 if (master->mode != EC_MASTER_MODE_FREERUN) return;
+ec_master_eoe_stop(master);
 EC_INFO("Stopping Free-Run mode.\n");
 if (!cancel_delayed_work(&master->freerun_work)) {
 flush_workqueue(master->workqueue);
 }
 */
 void ec_master_freerun(void *data /**< master pointer */)
 {
 ec_master_t *master = (ec_master_t *) data;
-unsigned long delay;
+// aquire master lock
+spin_lock_bh(&master->internal_lock);
 ecrt_master_async_receive(master);
-// execute freerun state machine
+// execute master state machine
 ec_fsm_execute(&master->fsm);
 ecrt_master_async_send(master);
-delay = HZ / 100;
+// release master lock
-if (ec_fsm_idle(&master->fsm)) delay = HZ;
+spin_unlock_bh(&master->internal_lock);
-queue_delayed_work(master->workqueue, &master->freerun_work, delay);
+queue_delayed_work(master->workqueue, &master->freerun_work, HZ / 100);
 }
 /*****************************************************************************/
 /**
 }
 /*****************************************************************************/
 /**
+Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
+*/
+void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
+{
+ec_eoe_t *eoe;
+ec_slave_t *slave;
+unsigned int coupled, found;
+if (master->eoe_running) return;
+// decouple all EoE handlers
+list_for_each_entry(eoe, &master->eoe_handlers, list)
+eoe->slave = NULL;
+coupled = 0;
+// couple a free EoE handler to every EoE-capable slave
+list_for_each_entry(slave, &master->slaves, list) {
+if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
+found = 0;
+list_for_each_entry(eoe, &master->eoe_handlers, list) {
+if (eoe->slave) continue;
+eoe->slave = slave;
+found = 1;
+coupled++;
+EC_INFO("Coupling device %s to slave %i.\n",
+eoe->dev->name, slave->ring_position);
+if (eoe->opened)
+slave->requested_state = EC_SLAVE_STATE_OP;
+}
+if (!found) {
+EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
+slave->requested_state = EC_SLAVE_STATE_INIT;
+}
+}
+if (!coupled) {
+EC_INFO("No EoE handlers coupled.\n");
+return;
+}
+EC_INFO("Starting EoE processing.\n");
+master->eoe_running = 1;
+// start EoE processing
+master->eoe_timer.expires = jiffies + 10;
+add_timer(&master->eoe_timer);
+return;
+}
+/*****************************************************************************/
+/**
+Stops the Ethernet-over-EtherCAT processing.
+*/
+void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
+{
+ec_eoe_t *eoe;
+if (!master->eoe_running) return;
+EC_INFO("Stopping EoE processing.\n");
+del_timer_sync(&master->eoe_timer);
+// decouple all EoE handlers
+list_for_each_entry(eoe, &master->eoe_handlers, list) {
+if (eoe->slave) {
+eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
+eoe->slave = NULL;
+}
+}
+master->eoe_running = 0;
+}
+/*****************************************************************************/
+/**
 Does the Ethernet-over-EtherCAT processing.
 */
-void ec_master_run_eoe(unsigned long data /**< master pointer */)
+void ec_master_eoe_run(unsigned long data /**< master pointer */)
 {
 ec_master_t *master = (ec_master_t *) data;
 ec_eoe_t *eoe;
 unsigned int active = 0;
-list_for_each_entry(eoe, &master->eoe_slaves, list) {
+list_for_each_entry(eoe, &master->eoe_handlers, list) {
 if (ec_eoe_active(eoe)) active++;
 }
+if (!active) goto queue_timer;
-// request_cb must return 0, if the lock has been aquired!
-if (active && !master->request_cb(master->cb_data))
+// aquire master lock...
-{
+if (master->mode == EC_MASTER_MODE_RUNNING) {
-ecrt_master_async_receive(master);
+// request_cb must return 0, if the lock has been aquired!
-list_for_each_entry(eoe, &master->eoe_slaves, list) {
+if (master->request_cb(master->cb_data))
-ec_eoe_run(eoe);
+goto queue_timer;
 }
-ecrt_master_async_send(master);
+else if (master->mode == EC_MASTER_MODE_FREERUN) {
+spin_lock(&master->internal_lock);
+}
+else
+goto queue_timer;
+// actual EoE stuff
+ecrt_master_async_receive(master);
+list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ec_eoe_run(eoe);
+}
+ecrt_master_async_send(master);
+// release lock...
+if (master->mode == EC_MASTER_MODE_RUNNING) {
 master->release_cb(master->cb_data);
 }
+else if (master->mode == EC_MASTER_MODE_FREERUN) {
+spin_unlock(&master->internal_lock);
+}
+queue_timer:
 master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
 add_timer(&master->eoe_timer);
 }
 /******************************************************************************
 \ingroup RealtimeInterface
 */
 int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
 {
-ec_eoe_t *eoe;
-ec_slave_t *slave;
 if (!master->request_cb || !master->release_cb) {
 EC_ERR("EoE requires master callbacks to be set!\n");
 return -1;
 }
-list_for_each_entry(slave, &master->slaves, list) {
+ec_master_eoe_start(master);
-// does the slave support EoE?
-if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
-if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
-EC_ERR("Failed to allocate EoE-Object.\n");
-return -1;
-}
-if (ec_eoe_init(eoe, slave)) {
-kfree(eoe);
-return -1;
-}
-list_add_tail(&eoe->list, &master->eoe_slaves);
-}
-if (list_empty(&master->eoe_slaves)) {
-EC_WARN("start_eoe: no EoE-capable slaves present.\n");
-return 0;
-}
-// start EoE processing
-master->eoe_timer.expires = jiffies + 10;
-add_timer(&master->eoe_timer);
 return 0;
 }
 /*****************************************************************************/
 if (master->slave_count) {
 EC_INFO("Slave list:\n");
 list_for_each_entry(slave, &master->slaves, list)
 ec_slave_print(slave, verbosity);
 }
-if (!list_empty(&master->eoe_slaves)) {
+if (!list_empty(&master->eoe_handlers)) {
 EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
-list_for_each_entry(eoe, &master->eoe_slaves, list) {
+list_for_each_entry(eoe, &master->eoe_handlers, list) {
 ec_eoe_print(eoe);
 }
 }
 EC_INFO("*** End master information ***\n");
 }

changeset 251	c1d0b63a9302
parent 246	0bf7c769de06
child 252	111a5c195b8d