--- a/master/master.c Thu Dec 16 09:52:17 2010 +0100
+++ b/master/master.c Thu Dec 16 11:23:32 2010 +0100
@@ -89,7 +89,7 @@
static int ec_master_idle_thread(void *);
static int ec_master_operation_thread(void *);
#ifdef EC_EOE
-static int ec_master_eoe_thread(void *);
+static int ec_master_eoe_processing(ec_master_t *);
#endif
void ec_master_find_dc_ref_clock(ec_master_t *);
@@ -573,9 +573,6 @@
master->phase = EC_ORPHANED;
-#ifdef EC_EOE
- ec_master_eoe_stop(master);
-#endif
ec_master_thread_stop(master);
down(&master->master_sem);
@@ -1301,6 +1298,10 @@
slave++) {
ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
}
+#if defined(EC_EOE)
+ if (!ec_master_eoe_processing(master))
+ master->fsm.idle = 0; // pump the bus as fast as possible
+#endif
up(&master->master_sem);
// queue and send
@@ -1360,6 +1361,9 @@
slave++) {
ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
}
+#if defined(EC_EOE)
+ ec_master_eoe_processing(master);
+#endif
up(&master->master_sem);
#ifdef EC_USE_HRTIMER
@@ -1383,119 +1387,48 @@
/*****************************************************************************/
#ifdef EC_EOE
-/** Starts Ethernet over EtherCAT processing on demand.
- */
-void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
-{
- struct sched_param param = { .sched_priority = 0 };
-
- if (master->eoe_thread) {
- EC_MASTER_WARN(master, "EoE already running!\n");
- return;
- }
-
- if (list_empty(&master->eoe_handlers))
- return;
-
- if (!master->send_cb || !master->receive_cb) {
- EC_MASTER_WARN(master, "No EoE processing"
- " because of missing callbacks!\n");
- return;
- }
-
- EC_MASTER_INFO(master, "Starting EoE thread.\n");
- master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
- "EtherCAT-EoE");
- if (IS_ERR(master->eoe_thread)) {
- int err = (int) PTR_ERR(master->eoe_thread);
- EC_MASTER_ERR(master, "Failed to start EoE thread (error %i)!\n",
- err);
- master->eoe_thread = NULL;
- return;
- }
-
- sched_setscheduler(master->eoe_thread, SCHED_NORMAL, ¶m);
- set_user_nice(master->eoe_thread, 0);
-}
-
-/*****************************************************************************/
-
-/** Stops the Ethernet over EtherCAT processing.
- */
-void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
-{
- if (master->eoe_thread) {
- EC_MASTER_INFO(master, "Stopping EoE thread.\n");
-
- kthread_stop(master->eoe_thread);
- master->eoe_thread = NULL;
- EC_MASTER_INFO(master, "EoE thread exited.\n");
- }
-}
/*****************************************************************************/
/** Does the Ethernet over EtherCAT processing.
*/
-static int ec_master_eoe_thread(void *priv_data)
-{
- ec_master_t *master = (ec_master_t *) priv_data;
+static int ec_master_eoe_processing(ec_master_t *master)
+{
ec_eoe_t *eoe;
unsigned int none_open, sth_to_send, all_idle;
-
- EC_MASTER_DBG(master, 1, "EoE thread running.\n");
-
- while (!kthread_should_stop()) {
- none_open = 1;
- all_idle = 1;
-
+ none_open = 1;
+ all_idle = 1;
+
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (ec_eoe_is_open(eoe)) {
+ none_open = 0;
+ break;
+ }
+ }
+ if (none_open)
+ return all_idle;
+
+ // actual EoE processing
+ sth_to_send = 0;
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ ec_eoe_run(eoe);
+ if (eoe->queue_datagram) {
+ sth_to_send = 1;
+ }
+ if (!ec_eoe_is_idle(eoe)) {
+ all_idle = 0;
+ }
+ }
+
+ if (sth_to_send) {
list_for_each_entry(eoe, &master->eoe_handlers, list) {
- if (ec_eoe_is_open(eoe)) {
- none_open = 0;
- break;
- }
- }
- if (none_open)
- goto schedule;
-
- // receive datagrams
- master->receive_cb(master->cb_data);
-
- // actual EoE processing
- sth_to_send = 0;
- list_for_each_entry(eoe, &master->eoe_handlers, list) {
- ec_eoe_run(eoe);
- if (eoe->queue_datagram) {
- sth_to_send = 1;
- }
- if (!ec_eoe_is_idle(eoe)) {
- all_idle = 0;
- }
- }
-
- if (sth_to_send) {
- list_for_each_entry(eoe, &master->eoe_handlers, list) {
- ec_eoe_queue(eoe);
- }
- // (try to) send datagrams
- down(&master->ext_queue_sem);
- master->send_cb(master->cb_data);
- up(&master->ext_queue_sem);
- }
-
-schedule:
- if (all_idle) {
- set_current_state(TASK_INTERRUPTIBLE);
- schedule_timeout(1);
- } else {
- schedule();
- }
- }
-
- EC_MASTER_DBG(master, 1, "EoE thread exiting...\n");
- return 0;
-}
-#endif
+ ec_eoe_queue(eoe);
+ }
+ }
+ return all_idle;
+}
+
+#endif // EC_EOE
/*****************************************************************************/
@@ -1992,9 +1925,6 @@
uint32_t domain_offset;
ec_domain_t *domain;
int ret;
-#ifdef EC_EOE
- int eoe_was_running;
-#endif
EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
@@ -2022,10 +1952,6 @@
// restart EoE process and master thread with new locking
ec_master_thread_stop(master);
-#ifdef EC_EOE
- eoe_was_running = master->eoe_thread != NULL;
- ec_master_eoe_stop(master);
-#endif
EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
@@ -2036,11 +1962,6 @@
master->receive_cb = master->app_receive_cb;
master->cb_data = master->app_cb_data;
-#ifdef EC_EOE
- if (eoe_was_running) {
- ec_master_eoe_start(master);
- }
-#endif
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
@@ -2065,7 +1986,6 @@
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
- int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
@@ -2076,10 +1996,6 @@
}
ec_master_thread_stop(master);
-#ifdef EC_EOE
- eoe_was_running = master->eoe_thread != NULL;
- ec_master_eoe_stop(master);
-#endif
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
@@ -2091,32 +2007,32 @@
slave < master->slaves + master->slave_count;
slave++) {
- // set states for all slaves
+ // set state to PREOP for all but eoe slaves
+#ifdef EC_EOE
+ // ... but leave EoE slaves in OP
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (slave != eoe->slave || !ec_eoe_is_open(eoe)) {
+ ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
+ // mark for reconfiguration, because the master could have no
+ // possibility for a reconfiguration between two sequential operation
+ // phases.
+ slave->force_config = 1;
+ }
+ }
+#else
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
-
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
- }
-
-#ifdef EC_EOE
- // ... but leave EoE slaves in OP
- list_for_each_entry(eoe, &master->eoe_handlers, list) {
- if (ec_eoe_is_open(eoe))
- ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
- }
-#endif
+#endif
+
+ }
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_app_time = 0;
-#ifdef EC_EOE
- if (eoe_was_running) {
- ec_master_eoe_start(master);
- }
-#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
EC_MASTER_WARN(master, "Failed to restart master thread!\n");