--- a/master/master.c Tue Dec 14 14:00:19 2010 +0100
+++ b/master/master.c Thu Dec 16 09:49:17 2010 +0100
@@ -172,7 +172,7 @@
INIT_LIST_HEAD(&master->ext_datagram_queue);
sema_init(&master->ext_queue_sem, 1);
- INIT_LIST_HEAD(&master->external_datagram_queue);
+ INIT_LIST_HEAD(&master->fsm_datagram_queue);
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
@@ -684,27 +684,30 @@
/*****************************************************************************/
-/** Injects external datagrams that fit into the datagram queue.
- */
-void ec_master_inject_external_datagrams(
+/** Injects fsm datagrams that fit into the datagram queue.
+ */
+void ec_master_inject_fsm_datagrams(
ec_master_t *master /**< EtherCAT master */
)
{
ec_datagram_t *datagram, *n;
size_t queue_size = 0;
+ if (list_empty(&master->fsm_datagram_queue)) {
+ return;
+ }
list_for_each_entry(datagram, &master->datagram_queue, queue) {
queue_size += datagram->data_size;
}
- list_for_each_entry_safe(datagram, n, &master->external_datagram_queue,
+ list_for_each_entry_safe(datagram, n, &master->fsm_datagram_queue,
queue) {
queue_size += datagram->data_size;
if (queue_size <= master->max_queue_size) {
list_del_init(&datagram->queue);
#if DEBUG_INJECT
- EC_MASTER_DBG(master, 0, "Injecting external datagram %08x"
- " size=%u, queue_size=%u\n", (unsigned int) datagram,
+ EC_MASTER_DBG(master, 0, "Injecting fsm datagram %p"
+ " size=%zu, queue_size=%zu\n", datagram,
datagram->data_size, queue_size);
#endif
#ifdef EC_HAVE_CYCLES
@@ -717,7 +720,7 @@
if (datagram->data_size > master->max_queue_size) {
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_ERROR;
- EC_MASTER_ERR(master, "External datagram %p is too large,"
+ EC_MASTER_ERR(master, "Fsm datagram %p is too large,"
" size=%zu, max_queue_size=%zu\n",
datagram, datagram->data_size,
master->max_queue_size);
@@ -745,15 +748,15 @@
((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
#endif
EC_MASTER_ERR(master, "Timeout %u us: Injecting"
- " external datagram %p size=%zu,"
+ " fsm datagram %p size=%zu,"
" max_queue_size=%zu\n", time_us, datagram,
datagram->data_size, master->max_queue_size);
}
#if DEBUG_INJECT
else {
EC_MASTER_DBG(master, 0, "Deferred injecting"
- " of external datagram %p"
- " size=%u, queue_size=%u\n",
+ " of fsm datagram %p"
+ " size=%zu, queue_size=%zu\n",
datagram, datagram->data_size, queue_size);
}
#endif
@@ -780,19 +783,32 @@
/*****************************************************************************/
-/** Places an external datagram in the sdo datagram queue.
- */
-void ec_master_queue_external_datagram(
+/** Places an request (SDO/FoE/SoE/EoE) fsm datagram in the sdo datagram queue.
+ */
+void ec_master_queue_request_fsm_datagram(
ec_master_t *master, /**< EtherCAT master */
ec_datagram_t *datagram /**< datagram */
)
{
+ ec_master_queue_fsm_datagram(master,datagram);
+ master->fsm.idle = 0; // pump the bus as fast as possible
+}
+
+/*****************************************************************************/
+
+/** Places an fsm datagram in the sdo datagram queue.
+ */
+void ec_master_queue_fsm_datagram(
+ ec_master_t *master, /**< EtherCAT master */
+ ec_datagram_t *datagram /**< datagram */
+ )
+{
ec_datagram_t *queued_datagram;
down(&master->io_sem);
// check, if the datagram is already queued
- list_for_each_entry(queued_datagram, &master->external_datagram_queue,
+ list_for_each_entry(queued_datagram, &master->fsm_datagram_queue,
queue) {
if (queued_datagram == datagram) {
datagram->state = EC_DATAGRAM_QUEUED;
@@ -802,18 +818,17 @@
}
#if DEBUG_INJECT
- EC_MASTER_DBG(master, 0, "Requesting external datagram %p size=%u\n",
+ EC_MASTER_DBG(master, 0, "Requesting fsm datagram %p size=%zu\n",
datagram, datagram->data_size);
#endif
- list_add_tail(&datagram->queue, &master->external_datagram_queue);
+ list_add_tail(&datagram->queue, &master->fsm_datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
#ifdef EC_HAVE_CYCLES
datagram->cycles_sent = get_cycles();
#endif
datagram->jiffies_sent = jiffies;
- master->fsm.idle = 0;
up(&master->io_sem);
}
@@ -1257,7 +1272,6 @@
ec_master_t *master = (ec_master_t *) priv_data;
ec_slave_t *slave = NULL;
size_t sent_bytes;
-
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
@@ -1273,20 +1287,19 @@
ecrt_master_receive(master);
up(&master->io_sem);
- if (master->injection_seq_rt == master->injection_seq_fsm) {
- // execute master & slave state machines
- if (down_interruptible(&master->master_sem))
- break;
- if (ec_fsm_master_exec(&master->fsm))
- master->injection_seq_fsm++;
- for (slave = master->slaves;
- slave < master->slaves + master->slave_count;
- slave++) {
- if (ec_fsm_slave_exec(&slave->fsm))
- master->injection_seq_fsm++;
- }
- up(&master->master_sem);
- }
+ // execute master & slave state machines
+ if (down_interruptible(&master->master_sem))
+ break;
+ if (ec_fsm_master_exec(&master->fsm)) {
+ ec_master_queue_fsm_datagram(master, &master->fsm_datagram);
+ }
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+ ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
+ }
+ up(&master->master_sem);
+
// queue and send
down(&master->io_sem);
ecrt_master_send(master);
@@ -1331,23 +1344,20 @@
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
- if (master->injection_seq_rt == master->injection_seq_fsm) {
- // output statistics
- ec_master_output_stats(master);
-
- // execute master & slave state machines
- if (down_interruptible(&master->master_sem))
- break;
- if (ec_fsm_master_exec(&master->fsm))
- master->injection_seq_fsm++;
- for (slave = master->slaves;
- slave < master->slaves + master->slave_count;
- slave++) {
- if (ec_fsm_slave_exec(&slave->fsm))
- master->injection_seq_fsm++;
- }
- up(&master->master_sem);
- }
+ // output statistics
+ ec_master_output_stats(master);
+
+ // execute master & slave state machines
+ if (down_interruptible(&master->master_sem))
+ break;
+ if (ec_fsm_master_exec(&master->fsm))
+ ec_master_queue_fsm_datagram(master, &master->fsm_datagram);
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+ ec_fsm_slave_exec(&slave->fsm); // may queue datagram in external queue
+ }
+ up(&master->master_sem);
#ifdef EC_USE_HRTIMER
// the op thread should not work faster than the sending RT thread
@@ -2119,12 +2129,7 @@
{
ec_datagram_t *datagram, *n;
- if (master->injection_seq_rt != master->injection_seq_fsm) {
- // inject datagrams produced by master & slave FSMs
- ec_master_queue_datagram(master, &master->fsm_datagram);
- master->injection_seq_rt = master->injection_seq_fsm;
- }
- ec_master_inject_external_datagrams(master);
+ ec_master_inject_fsm_datagrams(master);
if (unlikely(!master->main_device.link_state)) {
// link is down, no datagram can be sent