--- a/master/master.c Mon Mar 12 18:15:06 2007 +0000
+++ b/master/master.c Mon Mar 12 18:21:42 2007 +0000
@@ -121,7 +121,17 @@
INIT_LIST_HEAD(&master->slaves);
master->slave_count = 0;
-
+
+ master->scan_state = EC_REQUEST_IN_PROGRESS;
+ master->allow_scan = 1;
+ init_MUTEX(&master->scan_sem);
+ init_waitqueue_head(&master->scan_queue);
+
+ master->config_state = EC_REQUEST_COMPLETE;
+ master->allow_config = 1;
+ init_MUTEX(&master->config_sem);
+ init_waitqueue_head(&master->config_queue);
+
INIT_LIST_HEAD(&master->datagram_queue);
master->datagram_index = 0;
@@ -320,24 +330,13 @@
/**
* Starts the master thread.
-*/
-
-int ec_master_thread_start(ec_master_t *master /**< EtherCAT master */)
-{
- int (*thread_func)(ec_master_t *);
-
- switch (master->mode) {
- case EC_MASTER_MODE_IDLE:
- thread_func = ec_master_idle_thread;
- break;
- case EC_MASTER_MODE_OPERATION:
- thread_func = ec_master_operation_thread;
- break;
- default:
- EC_ERR("Invalid master mode while starting thread!\n");
- return -1;
- }
-
+ */
+
+int ec_master_thread_start(
+ ec_master_t *master, /**< EtherCAT master */
+ int (*thread_func)(ec_master_t *) /**< thread function to start */
+ )
+{
init_completion(&master->thread_exit);
EC_INFO("Starting master thread.\n");
@@ -352,22 +351,32 @@
/**
* Stops the master thread.
-*/
+ */
void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)
{
- if (master->thread_id) {
- kill_proc(master->thread_id, SIGTERM, 1);
- wait_for_completion(&master->thread_exit);
- EC_INFO("Master thread exited.\n");
- }
+ if (!master->thread_id) {
+ EC_WARN("ec_master_thread_stop: Already finished!\n");
+ return;
+ }
+
+ kill_proc(master->thread_id, SIGTERM, 1);
+ wait_for_completion(&master->thread_exit);
+ EC_INFO("Master thread exited.\n");
+
+ if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;
+
+ // wait for FSM datagram
+ while (get_cycles() - master->fsm_datagram.cycles_sent
+ < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000))
+ schedule();
}
/*****************************************************************************/
/**
* Transition function from ORPHANED to IDLE mode.
-*/
+ */
int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
@@ -376,7 +385,7 @@
master->cb_data = master;
master->mode = EC_MASTER_MODE_IDLE;
- if (ec_master_thread_start(master)) {
+ if (ec_master_thread_start(master, ec_master_idle_thread)) {
master->mode = EC_MASTER_MODE_ORPHANED;
return -1;
}
@@ -388,7 +397,7 @@
/**
* Transition function from IDLE to ORPHANED mode.
-*/
+ */
void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
@@ -403,57 +412,55 @@
/**
* Transition function from IDLE to OPERATION mode.
-*/
+ */
int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
- ec_master_eoe_stop(master); // stop EoE timer
- master->eoe_checked = 1; // prevent from starting again by FSM
- ec_master_thread_stop(master);
-
- master->mode = EC_MASTER_MODE_OPERATION;
-
- // wait for FSM datagram
- if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
- while (get_cycles() - master->fsm_datagram.cycles_sent
- < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}
- ecrt_master_receive(master);
- }
-
- // finish running IDLE FSM
- if (ec_fsm_master_running(&master->fsm)) {
- while (ec_fsm_master_exec(&master->fsm)) {
- ec_master_queue_datagram(master, &master->fsm_datagram);
- ec_master_sync_io(master);
- }
- }
-
- if (master->debug_level) {
- if (ec_master_measure_bus_time(master)) {
- EC_ERR("Bus time measuring failed!\n");
- goto out_idle;
- }
- }
-
- // set initial slave states
+ down(&master->config_sem);
+ master->allow_config = 0; // temporarily disable slave configuration
+ up(&master->config_sem);
+
+ // wait for slave configuration to complete
+ if (wait_event_interruptible(master->config_queue,
+ master->config_state != EC_REQUEST_IN_PROGRESS)) {
+ EC_INFO("Finishing slave configuration interrupted by signal.\n");
+ goto out_allow;
+ }
+
+ if (master->debug_level)
+ EC_DBG("Waiting for pending slave configuration returned.\n");
+
+ down(&master->scan_sem);
+ master->allow_scan = 0; // 'lock' the slave list
+ up(&master->scan_sem);
+
+ // wait for slave scan to complete
+ if (wait_event_interruptible(master->scan_queue,
+ master->scan_state != EC_REQUEST_IN_PROGRESS)) {
+ EC_INFO("Waiting for slave scan interrupted by signal.\n");
+ goto out_allow;
+ }
+
+ if (master->debug_level)
+ EC_DBG("Waiting for pending slave scan returned.\n");
+
+ // set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
- master->eoe_checked = 0; // allow starting EoE again
+ if (master->debug_level)
+ EC_DBG("Switching to operation mode.\n");
+
+ master->mode = EC_MASTER_MODE_OPERATION;
master->pdo_slaves_offline = 0; // assume all PDO slaves online
- master->injection_seq_fsm = 0;
- master->injection_seq_rt = 0;
-
return 0;
-
- out_idle:
- master->mode = EC_MASTER_MODE_IDLE;
- if (ec_master_thread_start(master)) {
- EC_WARN("Failed to start master thread again!\n");
- }
+
+out_allow:
+ master->allow_scan = 1;
+ master->allow_config = 1;
return -1;
}
@@ -461,73 +468,35 @@
/**
* Transition function from OPERATION to IDLE mode.
-*/
+ */
void ec_master_leave_operation_mode(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
- ec_fsm_master_t *fsm = &master->fsm;
- ec_fsm_slave_t fsm_slave;
-
- ec_master_eoe_stop(master); // stop EoE timer
- master->eoe_checked = 1; // prevent from starting again by FSM
- ec_master_thread_stop(master); // stop master thread
- master->injection_seq_fsm = 0;
- master->injection_seq_rt = 0;
-
- // wait for FSM datagram
- if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {
- // active waiting
- while (get_cycles() - master->fsm_datagram.cycles_sent
- < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));
- ecrt_master_receive(master);
- }
-
- // finish running master FSM
- if (ec_fsm_master_running(fsm)) {
- while (ec_fsm_master_exec(fsm)) {
- ec_master_queue_datagram(master, &master->fsm_datagram);
- ec_master_sync_io(master);
- }
- }
-
- ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
+
+ master->mode = EC_MASTER_MODE_IDLE;
+
+ ec_master_eoe_stop(master);
+ ec_master_thread_stop(master);
+
+ master->request_cb = ec_master_request_cb;
+ master->release_cb = ec_master_release_cb;
+ master->cb_data = master;
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_reset(slave);
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
-
- // don't try to set PREOP for slaves that don't respond,
- // because of 3 second timeout.
- if (slave->online_state == EC_SLAVE_OFFLINE) {
- if (master->debug_level)
- EC_DBG("Skipping to configure offline slave %i.\n",
- slave->ring_position);
- continue;
- }
-
- ec_fsm_slave_start_conf(&fsm_slave, slave);
- while (ec_fsm_slave_exec(&fsm_slave)) {
- ec_master_queue_datagram(master, &master->fsm_datagram);
- ec_master_sync_io(master);
- }
- }
-
- ec_fsm_slave_clear(&fsm_slave);
+ }
ec_master_destroy_domains(master);
-
- master->request_cb = ec_master_request_cb;
- master->release_cb = ec_master_release_cb;
- master->cb_data = master;
-
- master->eoe_checked = 0; // allow EoE again
-
- master->mode = EC_MASTER_MODE_IDLE;
- if (ec_master_thread_start(master)) {
- EC_WARN("Failed to start master thread!\n");
+
+ master->allow_scan = 1;
+ master->allow_config = 1;
+
+ if (ec_master_thread_start(master, ec_master_idle_thread)) {
+ EC_WARN("Failed to restart master thread!\n");
}
}
@@ -811,7 +780,7 @@
daemonize("EtherCAT-IDLE");
allow_signal(SIGTERM);
- while (!signal_pending(current) && master->mode == EC_MASTER_MODE_IDLE) {
+ while (!signal_pending(current)) {
cycles_start = get_cycles();
if (ec_fsm_master_running(&master->fsm)) {
@@ -850,6 +819,8 @@
}
master->thread_id = 0;
+ if (master->debug_level)
+ EC_DBG("Master IDLE thread exiting...\n");
complete_and_exit(&master->thread_exit, 0);
}
@@ -866,9 +837,7 @@
daemonize("EtherCAT-OP");
allow_signal(SIGTERM);
- while (!signal_pending(current) &&
- master->mode == EC_MASTER_MODE_OPERATION) {
-
+ while (!signal_pending(current)) {
if (master->injection_seq_rt != master->injection_seq_fsm ||
master->fsm_datagram.state == EC_DATAGRAM_SENT ||
master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
@@ -902,6 +871,8 @@
}
master->thread_id = 0;
+ if (master->debug_level)
+ EC_DBG("Master OP thread exiting...\n");
complete_and_exit(&master->thread_exit, 0);
}
@@ -1455,8 +1426,6 @@
{
uint32_t domain_offset;
ec_domain_t *domain;
- ec_fsm_slave_t fsm_slave;
- ec_slave_t *slave;
// allocate all domains
domain_offset = 0;
@@ -1468,30 +1437,37 @@
domain_offset += domain->data_size;
}
- ec_fsm_slave_init(&fsm_slave, &master->fsm_datagram);
-
- // configure all slaves
- list_for_each_entry(slave, &master->slaves, list) {
- ec_fsm_slave_start_conf(&fsm_slave, slave);
- while (ec_fsm_slave_exec(&fsm_slave)) {
- ec_master_queue_datagram(master, &master->fsm_datagram);
- ec_master_sync_io(master);
- }
-
- if (!ec_fsm_slave_success(&fsm_slave)) {
- ec_fsm_slave_clear(&fsm_slave);
- EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
- return -1;
- }
- }
-
- ec_fsm_slave_clear(&fsm_slave);
+ // request slave configuration
+ down(&master->config_sem);
+ master->allow_config = 1; // request the current configuration
+ master->config_state = EC_REQUEST_IN_PROGRESS;
+ up(&master->config_sem);
+
+ // wait for configuration to complete
+ if (wait_event_interruptible(master->config_queue,
+ master->config_state != EC_REQUEST_IN_PROGRESS)) {
+ EC_INFO("Waiting for configuration interrupted by signal.\n");
+ return -1;
+ }
+
+ if (master->config_state != EC_REQUEST_COMPLETE) {
+ EC_ERR("Failed to configure slaves.\n");
+ return -1;
+ }
+
+ // restart EoE process and master thread with new locking
+ ec_master_eoe_stop(master);
+ ec_master_thread_stop(master);
+
ec_master_prepare(master); // prepare asynchronous IO
if (master->debug_level)
EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
- if (ec_master_thread_start(master)) {
+ master->injection_seq_fsm = 0;
+ master->injection_seq_rt = 0;
+
+ if (ec_master_thread_start(master, ec_master_operation_thread)) {
EC_ERR("Failed to start master thread!\n");
return -1;
}
@@ -1502,38 +1478,6 @@
/*****************************************************************************/
/**
- Sends queued datagrams and waits for their reception.
-*/
-
-void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
-{
- ec_datagram_t *datagram;
- unsigned int datagrams_sent;
-
- // send all datagrams
- ecrt_master_send(master);
-
- while (1) { // active waiting
- schedule(); // schedule other processes while waiting.
- ecrt_master_receive(master); // receive and dequeue datagrams
-
- // count number of datagrams still waiting for response
- datagrams_sent = 0;
- list_for_each_entry(datagram, &master->datagram_queue, queue) {
- // there may be another process that queued commands
- // in the meantime.
- if (datagram->state == EC_DATAGRAM_QUEUED) continue;
- datagrams_sent++;
- }
-
- // abort loop if there are no more datagrams marked as sent.
- if (!datagrams_sent) break;
- }
-}
-
-/*****************************************************************************/
-
-/**
Asynchronous sending of datagrams.
\ingroup RealtimeInterface
*/