--- a/master/slave.c Mon May 03 10:13:25 2010 +0200
+++ b/master/slave.c Mon May 03 18:07:57 2010 +0200
@@ -161,17 +161,17 @@
// init state machine datagram
ec_datagram_init(&slave->fsm_datagram);
- snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);
+ snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,
+ "slave%u-fsm", slave->ring_position);
ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);
if (ret < 0) {
ec_datagram_clear(&slave->fsm_datagram);
- EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");
return;
}
// create state machine object
ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);
-
}
/*****************************************************************************/
@@ -187,6 +187,41 @@
unsigned int i;
ec_pdo_t *pdo, *next_pdo;
+ // abort all pending requests
+
+ 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,"
+ " slave about to be deleted.\n");
+ request->req.state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->sdo_queue);
+ }
+
+ while (!list_empty(&slave->foe_requests)) {
+ ec_master_foe_request_t *request =
+ list_entry(slave->foe_requests.next,
+ 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;
+ wake_up(&slave->foe_queue);
+ }
+
+ while (!list_empty(&slave->soe_requests)) {
+ ec_master_soe_request_t *request =
+ list_entry(slave->soe_requests.next,
+ 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;
+ wake_up(&slave->soe_queue);
+ }
+
if (slave->config)
ec_slave_config_detach(slave->config);
@@ -218,7 +253,6 @@
kfree(slave->sii_words);
ec_fsm_slave_clear(&slave->fsm);
ec_datagram_clear(&slave->fsm_datagram);
-
}
/*****************************************************************************/
@@ -254,8 +288,7 @@
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state, 0);
ec_state_string(new_state, cur_state, 0);
- EC_DBG("Slave %u: %s -> %s.\n",
- slave->ring_position, old_state, cur_state);
+ EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);
}
slave->current_state = new_state;
}
@@ -299,7 +332,7 @@
if (!(slave->sii.strings =
kmalloc(sizeof(char *) * slave->sii.string_count,
GFP_KERNEL))) {
- EC_ERR("Failed to allocate string array memory.\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");
err = -ENOMEM;
goto out_zero;
}
@@ -310,7 +343,7 @@
// allocate memory for string structure and data at a single blow
if (!(slave->sii.strings[i] =
kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate string memory.\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");
err = -ENOMEM;
goto out_free;
}
@@ -349,8 +382,8 @@
uint8_t flags;
if (data_size != 32) {
- EC_ERR("Wrong size of general category (%zu/32) in slave %u.\n",
- data_size, slave->ring_position);
+ EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",
+ data_size);
return -EINVAL;
}
@@ -404,8 +437,8 @@
// one sync manager struct is 4 words long
if (data_size % 8) {
- EC_ERR("Invalid SII sync manager category size %zu in slave %u.\n",
- data_size, slave->ring_position);
+ EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",
+ data_size);
return -EINVAL;
}
@@ -414,13 +447,14 @@
if (count) {
total_count = count + slave->sii.sync_count;
if (total_count > EC_MAX_SYNC_MANAGERS) {
- EC_ERR("Exceeded maximum number of sync managers!\n");
+ EC_SLAVE_ERR(slave, "Exceeded maximum number of"
+ " sync managers!\n");
return -EOVERFLOW;
}
memsize = sizeof(ec_sync_t) * total_count;
if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
- EC_ERR("Failed to allocate %zu bytes for sync managers.\n",
- memsize);
+ EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"
+ " for sync managers.\n", memsize);
return -ENOMEM;
}
@@ -469,7 +503,7 @@
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO memory.\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate PDO memory.\n");
return -ENOMEM;
}
@@ -491,7 +525,7 @@
for (i = 0; i < entry_count; i++) {
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO entry memory.\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate PDO entry memory.\n");
return -ENOMEM;
}
@@ -517,8 +551,8 @@
ec_sync_t *sync;
if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
- EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
- pdo->sync_index, pdo->index, slave->ring_position);
+ EC_SLAVE_ERR(slave, "Invalid SM index %i for PDO 0x%04X.",
+ pdo->sync_index, pdo->index);
return -ENOENT;
}
@@ -548,8 +582,7 @@
if (index >= slave->sii.string_count) {
if (slave->master->debug_level)
- EC_WARN("String %u not found in slave %u.\n",
- index, slave->ring_position);
+ EC_SLAVE_WARN(slave, "String %u not found.\n", index);
return NULL;
}
@@ -848,7 +881,8 @@
next_dc->ports[0].delay_to_next_dc = (rtt - next_rtt_sum) / 2;
#if 0
- EC_DBG("delay %u:%u rtt=%u next_rtt_sum=%u delay=%u\n",
+ 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
@@ -868,7 +902,7 @@
ec_slave_t *next, *next_dc;
#if 0
- EC_DBG("%u: %u\n", slave->ring_position, *delay);
+ EC_SLAVE_DBG(slave, 1, "%u\n", *delay);
#endif
slave->transmission_delay = *delay;
@@ -884,7 +918,7 @@
*delay = *delay + port->delay_to_next_dc;
#if 0
- EC_DBG("%u:%u %u\n", slave->ring_position, i, *delay);
+ EC_SLAVE_DBG(slave, 1, "%u:%u %u\n", slave->ring_position, i, *delay);
#endif
ec_slave_calc_transmission_delays_rec(next_dc, delay);
}