# HG changeset patch # User Florian Pose # Date 1263910557 -3600 # Node ID 5371f3e5f6a1e2ef72d3438f7155bd63d09b0976 # Parent b4c85bedd68fa6155def58c5d162328f3628edd2 Disable use of hrtimer for scheduling by default. Does not work on some PPC targets. diff -r b4c85bedd68f -r 5371f3e5f6a1 configure.ac --- a/configure.ac Wed Jan 13 16:39:56 2010 +0100 +++ b/configure.ac Tue Jan 19 15:15:57 2010 +0100 @@ -475,6 +475,30 @@ fi #------------------------------------------------------------------------------ +# High-resolution timer support +#------------------------------------------------------------------------------ + +AC_ARG_ENABLE([hrtimer], + AS_HELP_STRING([--enable-hrtimer], + [Use high-resolution timer for scheduling (default: no)]), + [ + case "${enableval}" in + yes) hrtimer=1 + ;; + no) hrtimer=0 + ;; + *) AC_MSG_ERROR([Invalid value for --enable-hrtimer]) + ;; + esac + ], + [hrtimer=0] +) + +if test "x${hrtimer}" = "x1"; then + AC_DEFINE([EC_USE_HRTIMER], [1], [Use hrtimer for scheduling]) +fi + +#------------------------------------------------------------------------------ # Command-line tool #----------------------------------------------------------------------------- diff -r b4c85bedd68f -r 5371f3e5f6a1 master/master.c --- a/master/master.c Wed Jan 13 16:39:56 2010 +0100 +++ b/master/master.c Tue Jan 19 15:15:57 2010 +0100 @@ -159,7 +159,9 @@ sema_init(&master->ext_queue_sem, 1); INIT_LIST_HEAD(&master->external_datagram_queue); - ec_master_set_send_interval(master,1000000 / HZ); // send interval in IDLE phase + + // send interval in IDLE phase + ec_master_set_send_interval(master, 1000000 / HZ); INIT_LIST_HEAD(&master->domains); @@ -373,35 +375,35 @@ // external requests are obsolete, so we wake pending waiters and remove // them from the list // - // SII requests - while (1) { - ec_sii_write_request_t *request; - if (list_empty(&master->sii_requests)) - break; - // get first request + // SII requests + while (1) { + ec_sii_write_request_t *request; + if (list_empty(&master->sii_requests)) + break; + // get first request request = list_entry(master->sii_requests.next, ec_sii_write_request_t, list); - list_del_init(&request->list); // dequeue - EC_INFO("Discarding SII request, slave %u does not exist anymore.\n", - request->slave->ring_position); - request->state = EC_INT_REQUEST_FAILURE; - wake_up(&master->sii_queue); - } - - // Register requests - while (1) { - ec_reg_request_t *request; - if (list_empty(&master->reg_requests)) - break; - // get first request - request = list_entry(master->reg_requests.next, - ec_reg_request_t, list); - list_del_init(&request->list); // dequeue - EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n", - request->slave->ring_position); - request->state = EC_INT_REQUEST_FAILURE; - wake_up(&master->reg_queue); - } + list_del_init(&request->list); // dequeue + EC_INFO("Discarding SII request, slave %u does not exist anymore.\n", + request->slave->ring_position); + request->state = EC_INT_REQUEST_FAILURE; + wake_up(&master->sii_queue); + } + + // Register requests + while (1) { + ec_reg_request_t *request; + if (list_empty(&master->reg_requests)) + break; + // get first request + request = list_entry(master->reg_requests.next, + ec_reg_request_t, list); + list_del_init(&request->list); // dequeue + EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n", + request->slave->ring_position); + request->state = EC_INT_REQUEST_FAILURE; + wake_up(&master->reg_queue); + } for (slave = master->slaves; slave < master->slaves + master->slave_count; @@ -692,79 +694,81 @@ /** Injects external datagrams that fit into the datagram queue */ void ec_master_inject_external_datagrams( - ec_master_t *master /**< EtherCAT master */ - ) -{ - ec_datagram_t *datagram, *n; - size_t queue_size = 0; - 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, queue) { - queue_size += datagram->data_size; - if (queue_size <= master->max_queue_size) { - list_del_init(&datagram->queue); + ec_master_t *master /**< EtherCAT master */ + ) +{ + ec_datagram_t *datagram, *n; + size_t queue_size = 0; + 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, queue) { + queue_size += datagram->data_size; + if (queue_size <= master->max_queue_size) { + list_del_init(&datagram->queue); #if DEBUG_INJECT - if (master->debug_level) { - EC_DBG("Injecting external datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size); - } + if (master->debug_level) { + EC_DBG("Injecting external datagram %08x size=%u," + " queue_size=%u\n", (unsigned int) datagram, + datagram->data_size, queue_size); + } #endif #ifdef EC_HAVE_CYCLES - datagram->cycles_sent = 0; -#endif - datagram->jiffies_sent = 0; - ec_master_queue_datagram(master, datagram); - } - else { - if (datagram->data_size > master->max_queue_size) { - list_del_init(&datagram->queue); - datagram->state = EC_DATAGRAM_ERROR; - EC_ERR("External datagram %08x is too large, size=%u, max_queue_size=%u\n",(unsigned int)datagram,datagram->data_size,master->max_queue_size); - } - else { + datagram->cycles_sent = 0; +#endif + datagram->jiffies_sent = 0; + ec_master_queue_datagram(master, datagram); + } + else { + if (datagram->data_size > master->max_queue_size) { + list_del_init(&datagram->queue); + datagram->state = EC_DATAGRAM_ERROR; + EC_ERR("External datagram %08x is too large, size=%u, max_queue_size=%u\n",(unsigned int)datagram,datagram->data_size,master->max_queue_size); + } + else { #ifdef EC_HAVE_CYCLES - cycles_t cycles_now = get_cycles(); - if (cycles_now - datagram->cycles_sent - > sdo_injection_timeout_cycles) { + cycles_t cycles_now = get_cycles(); + if (cycles_now - datagram->cycles_sent + > sdo_injection_timeout_cycles) { #else - if (jiffies - datagram->jiffies_sent - > sdo_injection_timeout_jiffies) { -#endif - unsigned int time_us; - list_del_init(&datagram->queue); - datagram->state = EC_DATAGRAM_ERROR; + if (jiffies - datagram->jiffies_sent + > sdo_injection_timeout_jiffies) { +#endif + unsigned int time_us; + list_del_init(&datagram->queue); + datagram->state = EC_DATAGRAM_ERROR; #ifdef EC_HAVE_CYCLES - time_us = (unsigned int) ((cycles_now - datagram->cycles_sent) * 1000LL) / cpu_khz; + time_us = (unsigned int) ((cycles_now - datagram->cycles_sent) * 1000LL) / cpu_khz; #else - time_us = (unsigned int) ((jiffies - datagram->jiffies_sent) * 1000000 / HZ); -#endif - EC_ERR("Timeout %u us: injecting external datagram %08x size=%u, max_queue_size=%u\n",time_us,(unsigned int)datagram,datagram->data_size,master->max_queue_size); - } - else { + time_us = (unsigned int) ((jiffies - datagram->jiffies_sent) * 1000000 / HZ); +#endif + EC_ERR("Timeout %u us: injecting external datagram %08x size=%u, max_queue_size=%u\n",time_us,(unsigned int)datagram,datagram->data_size,master->max_queue_size); + } + else { #if DEBUG_INJECT - if (master->debug_level) { - EC_DBG("Deferred injecting of external datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size); - } -#endif - } - } - } - } -} + if (master->debug_level) { + EC_DBG("Deferred injecting of external datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size); + } +#endif + } + } + } + } + } /*****************************************************************************/ /** sets the expected interval between calls to ecrt_master_send - and calculates the maximum amount of data to queue - */ -void ec_master_set_send_interval( - ec_master_t *master, /**< EtherCAT master */ - size_t send_interval /**< send interval */ - ) -{ - master->send_interval = send_interval; - master->max_queue_size = (send_interval * 1000) / EC_BYTE_TRANSMITION_TIME; - master->max_queue_size -= master->max_queue_size / 10; + and calculates the maximum amount of data to queue + */ + void ec_master_set_send_interval( + ec_master_t *master, /**< EtherCAT master */ + size_t send_interval /**< send interval */ + ) + { + master->send_interval = send_interval; + master->max_queue_size = (send_interval * 1000) / EC_BYTE_TRANSMITION_TIME; + master->max_queue_size -= master->max_queue_size / 10; } @@ -1116,66 +1120,79 @@ /*****************************************************************************/ + +#ifdef EC_USE_HRTIMER + /* * Sleep related functions: */ static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer) { - struct hrtimer_sleeper *t = - container_of(timer, struct hrtimer_sleeper, timer); - struct task_struct *task = t->task; - - t->task = NULL; - if (task) - wake_up_process(task); - - return HRTIMER_NORESTART; -} + struct hrtimer_sleeper *t = + container_of(timer, struct hrtimer_sleeper, timer); + struct task_struct *task = t->task; + + t->task = NULL; + if (task) + wake_up_process(task); + + return HRTIMER_NORESTART; +} + +/*****************************************************************************/ #if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28) + /* compatibility with new hrtimer interface */ static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer) { - return timer->expires; -} + return timer->expires; +} + +/*****************************************************************************/ static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time) { - timer->expires = time; -} -#endif - + timer->expires = time; +} + +#endif + +/*****************************************************************************/ void ec_master_nanosleep(const unsigned long nsecs) { - struct hrtimer_sleeper t; - enum hrtimer_mode mode = HRTIMER_MODE_REL; - hrtimer_init(&t.timer, CLOCK_MONOTONIC,mode); - t.timer.function = ec_master_nanosleep_wakeup; - t.task = current; + struct hrtimer_sleeper t; + enum hrtimer_mode mode = HRTIMER_MODE_REL; + + hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode); + t.timer.function = ec_master_nanosleep_wakeup; + t.task = current; #ifdef CONFIG_HIGH_RES_TIMERS #if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24) - t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART; + t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART; #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26) - t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ; + t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ; #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28) - t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED; -#endif -#endif - hrtimer_set_expires(&t.timer, ktime_set(0,nsecs)); - do { - set_current_state(TASK_INTERRUPTIBLE); - hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode); - - if (likely(t.task)) - schedule(); - - hrtimer_cancel(&t.timer); - mode = HRTIMER_MODE_ABS; - - } while (t.task && !signal_pending(current)); -} - + t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED; +#endif +#endif + hrtimer_set_expires(&t.timer, ktime_set(0, nsecs)); + + do { + set_current_state(TASK_INTERRUPTIBLE); + hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode); + + if (likely(t.task)) + schedule(); + + hrtimer_cancel(&t.timer); + mode = HRTIMER_MODE_ABS; + + } while (t.task && !signal_pending(current)); +} + +#endif // EC_USE_HRTIMER /*****************************************************************************/ @@ -1221,10 +1238,20 @@ sent_bytes = master->main_device.tx_skb[master->main_device.tx_ring_index]->len; up(&master->io_sem); - if (ec_fsm_master_idle(&master->fsm)) - ec_master_nanosleep(master->send_interval*1000); - else - ec_master_nanosleep(sent_bytes*EC_BYTE_TRANSMITION_TIME); + if (ec_fsm_master_idle(&master->fsm)) { +#ifdef EC_USE_HRTIMER + ec_master_nanosleep(master->send_interval * 1000); +#else + set_current_state(TASK_INTERRUPTIBLE); + schedule_timeout(1); +#endif + } else { +#ifdef EC_USE_HRTIMER + ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMITION_TIME); +#else + schedule(); +#endif + } } if (master->debug_level) @@ -1241,11 +1268,16 @@ ec_master_t *master = (ec_master_t *) priv_data; ec_slave_t *slave = NULL; int fsm_exec; + if (master->debug_level) - EC_DBG("Operation thread running with fsm interval = %d us, max data size=%d\n",master->send_interval,master->max_queue_size); + EC_DBG("Operation thread running with fsm interval = %d us," + " max data size=%d\n", + master->send_interval, + master->max_queue_size); 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); @@ -1266,8 +1298,19 @@ if (fsm_exec) master->injection_seq_fsm++; } + +#ifdef EC_USE_HRTIMER // the op thread should not work faster than the sending RT thread - ec_master_nanosleep(master->send_interval*1000); + ec_master_nanosleep(master->send_interval * 1000); +#else + if (ec_fsm_master_idle(&master->fsm)) { + set_current_state(TASK_INTERRUPTIBLE); + schedule_timeout(1); + } + else { + schedule(); + } +#endif } if (master->debug_level)