# HG changeset patch # User Florian Pose # Date 1173701503 0 # Node ID c68995623e94e8e3dca520400998aa2e54d25424 # Parent a4d3fffdaed7fff99522a0e0dd115796e9209742 Introduced idle flag in master state machine. diff -r a4d3fffdaed7 -r c68995623e94 NEWS --- a/NEWS Mon Mar 12 11:02:05 2007 +0000 +++ b/NEWS Mon Mar 12 12:11:43 2007 +0000 @@ -37,6 +37,8 @@ * Implemented setting of secondary slave address (alias) via sysfs. * Implemented SDO reading in operation mode via sysfs. * Removed annoying eeprom_write_enable file. EEPROM writing always enabled. +* Master state machine scheduled with timeout if idle, otherwise is executed + as fast as possible (with schedule()). * Removed EtherCAT line comments from 8139too drivers. ------------------------------------------------------------------------------- diff -r a4d3fffdaed7 -r c68995623e94 TODO --- a/TODO Mon Mar 12 11:02:05 2007 +0000 +++ b/TODO Mon Mar 12 12:11:43 2007 +0000 @@ -26,7 +26,6 @@ - Evaluate EEPROM contents after writing. - SDO dictionary fetching in operation mode. - SDO write access in sysfs. - - Speed up IDLE state machine through fast mode with schedule(). - Configure slave ports to automatically open on link detection. - Calculate cycle time of operation state machine. diff -r a4d3fffdaed7 -r c68995623e94 master/fsm_master.c --- a/master/fsm_master.c Mon Mar 12 11:02:05 2007 +0000 +++ b/master/fsm_master.c Mon Mar 12 12:11:43 2007 +0000 @@ -74,6 +74,7 @@ fsm->master = master; fsm->datagram = datagram; fsm->state = ec_fsm_master_state_start; + fsm->idle = 0; fsm->slaves_responding = 0; fsm->topology_change_pending = 0; fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; @@ -126,15 +127,30 @@ /*****************************************************************************/ /** - \return false, if state machine has terminated -*/ - -int ec_fsm_master_running(ec_fsm_master_t *fsm /**< master state machine */) + * \return false, if state machine has terminated + */ + +int ec_fsm_master_running( + const ec_fsm_master_t *fsm /**< master state machine */ + ) { return fsm->state != ec_fsm_master_state_end && fsm->state != ec_fsm_master_state_error; } +/*****************************************************************************/ + +/** + * \return true, if the state machine is in an idle phase + */ + +int ec_fsm_master_idle( + const ec_fsm_master_t *fsm /**< master state machine */ + ) +{ + return fsm->idle; +} + /****************************************************************************** * master state machine *****************************************************************************/ @@ -146,6 +162,7 @@ void ec_fsm_master_state_start(ec_fsm_master_t *fsm) { + fsm->idle = 1; ec_datagram_brd(fsm->datagram, 0x0130, 2); fsm->state = ec_fsm_master_state_broadcast; } @@ -167,8 +184,7 @@ if (datagram->state == EC_DATAGRAM_TIMED_OUT) return; // always retry - if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR - // link is down + if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down fsm->slaves_responding = 0; list_for_each_entry(slave, &master->slaves, list) { ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE); @@ -210,6 +226,7 @@ master->mode == EC_MASTER_MODE_IDLE) { fsm->topology_change_pending = 0; fsm->tainted = 0; + fsm->idle = 0; ec_master_eoe_stop(master); ec_master_destroy_slaves(master); @@ -359,6 +376,7 @@ slave->ring_position); // start uploading SDO + fsm->idle = 0; fsm->slave = slave; fsm->sdo_request = request; fsm->state = ec_fsm_master_state_sdo_request; @@ -406,6 +424,7 @@ } } + fsm->idle = 0; fsm->slave = slave; fsm->state = ec_fsm_master_state_configure_slave; ec_fsm_slave_start_conf(&fsm->fsm_slave, slave); @@ -439,6 +458,7 @@ slave->sdo_dictionary_fetched = 1; // start fetching SDO dictionary + fsm->idle = 0; fsm->slave = slave; fsm->state = ec_fsm_master_state_sdodict; ec_fsm_coe_dictionary(&fsm->fsm_coe, slave); @@ -469,6 +489,7 @@ // is there another slave to query? if (slave->list.next != &master->slaves) { // process next slave + fsm->idle = 1; fsm->slave = list_entry(slave->list.next, ec_slave_t, list); ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2); @@ -487,6 +508,7 @@ // At least one slave is offline. validate! EC_INFO("Validating bus.\n"); + fsm->idle = 0; fsm->slave = list_entry(master->slaves.next, ec_slave_t, list); fsm->state = ec_fsm_master_state_validate_vendor; ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION); @@ -533,6 +555,7 @@ // check, if new slave state has to be acknowledged if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) { + fsm->idle = 0; fsm->state = ec_fsm_master_state_acknowledge; ec_fsm_change_ack(&fsm->fsm_change, slave); ec_fsm_change_exec(&fsm->fsm_change); diff -r a4d3fffdaed7 -r c68995623e94 master/fsm_master.h --- a/master/fsm_master.h Mon Mar 12 11:02:05 2007 +0000 +++ b/master/fsm_master.h Mon Mar 12 12:11:43 2007 +0000 @@ -81,6 +81,7 @@ unsigned int retries; /**< retries on datagram timeout. */ void (*state)(ec_fsm_master_t *); /**< master state function */ + int idle; /**< state machine is in idle phase */ unsigned int slaves_responding; /**< number of responding slaves */ unsigned int topology_change_pending; /**< bus topology changed */ ec_slave_state_t slave_states; /**< states of responding slaves */ @@ -104,7 +105,8 @@ void ec_fsm_master_clear(ec_fsm_master_t *); int ec_fsm_master_exec(ec_fsm_master_t *); -int ec_fsm_master_running(ec_fsm_master_t *); +int ec_fsm_master_running(const ec_fsm_master_t *); +int ec_fsm_master_idle(const ec_fsm_master_t *); /*****************************************************************************/ diff -r a4d3fffdaed7 -r c68995623e94 master/master.c --- a/master/master.c Mon Mar 12 11:02:05 2007 +0000 +++ b/master/master.c Mon Mar 12 12:11:43 2007 +0000 @@ -836,8 +836,13 @@ master->idle_cycle_time_pos++; master->idle_cycle_time_pos %= HZ; - set_current_state(TASK_INTERRUPTIBLE); - schedule_timeout(1); + if (ec_fsm_master_idle(&master->fsm)) { + set_current_state(TASK_INTERRUPTIBLE); + schedule_timeout(1); + } + else { + schedule(); + } } master->thread_id = 0; @@ -883,8 +888,13 @@ master->idle_cycle_time_pos %= HZ; schedule: - set_current_state(TASK_INTERRUPTIBLE); - schedule_timeout(1); + if (ec_fsm_master_idle(&master->fsm)) { + set_current_state(TASK_INTERRUPTIBLE); + schedule_timeout(1); + } + else { + schedule(); + } } master->thread_id = 0;