--- a/master/fsm_master.h Tue Dec 04 14:26:30 2012 +0100
+++ b/master/fsm_master.h Tue Dec 04 14:49:23 2012 +0100
@@ -61,16 +61,6 @@
/*****************************************************************************/
-/** SoE request.
- */
-typedef struct {
- struct list_head list; /**< List head. */
- ec_slave_t *slave; /**< EtherCAT slave. */
- ec_soe_request_t req; /**< SoE request. */
-} ec_master_soe_request_t;
-
-/*****************************************************************************/
-
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
/** Finite state machine of an EtherCAT master.
--- a/master/fsm_slave.c Tue Dec 04 14:26:30 2012 +0100
+++ b/master/fsm_slave.c Tue Dec 04 14:49:23 2012 +0100
@@ -457,43 +457,43 @@
)
{
ec_slave_t *slave = fsm->slave;
- ec_master_soe_request_t *req, *next;
-
- // search the first request to be processed
- list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
-
- list_del_init(&req->list); // dequeue
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- EC_SLAVE_WARN(slave, "Aborting SoE request,"
- " slave has error flag set.\n");
- req->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->soe_queue);
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
-
- if (slave->current_state == EC_SLAVE_STATE_INIT) {
- EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
- req->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->soe_queue);
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
-
- req->req.state = EC_INT_REQUEST_BUSY;
-
- // Found pending request. Execute it!
- EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
-
- // Start SoE transfer
- fsm->soe_request = &req->req;
- fsm->state = ec_fsm_slave_state_soe_request;
- ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
- ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
- ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
- return 1;
- }
- return 0;
+ ec_soe_request_t *req;
+
+ if (list_empty(&slave->soe_requests)) {
+ return 0;
+ }
+
+ // take the first request to be processed
+ req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);
+ list_del_init(&req->list); // dequeue
+
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ EC_SLAVE_WARN(slave, "Aborting SoE request,"
+ " slave has error flag set.\n");
+ req->state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->soe_queue);
+ return 0;
+ }
+
+ if (slave->current_state == EC_SLAVE_STATE_INIT) {
+ EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
+ req->state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->soe_queue);
+ return 0;
+ }
+
+ req->state = EC_INT_REQUEST_BUSY;
+
+ // Found pending request. Execute it!
+ EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
+
+ // Start SoE transfer
+ fsm->soe_request = req;
+ fsm->state = ec_fsm_slave_state_soe_request;
+ ec_fsm_soe_transfer(&fsm->fsm_soe, slave, req);
+ ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
+ ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+ return 1;
}
/*****************************************************************************/
--- a/master/master.c Tue Dec 04 14:26:30 2012 +0100
+++ b/master/master.c Tue Dec 04 14:49:23 2012 +0100
@@ -2919,73 +2919,76 @@
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
- ec_master_soe_request_t request;
- int retval;
+ ec_soe_request_t request;
+ ec_slave_t *slave;
+ int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
- INIT_LIST_HEAD(&request.list);
- ec_soe_request_init(&request.req);
- ec_soe_request_set_drive_no(&request.req, drive_no);
- ec_soe_request_set_idn(&request.req, idn);
-
- if (ec_soe_request_alloc(&request.req, data_size)) {
- ec_soe_request_clear(&request.req);
- return -ENOMEM;
- }
-
- memcpy(request.req.data, data, data_size);
- request.req.data_size = data_size;
- ec_soe_request_write(&request.req);
-
- if (down_interruptible(&master->master_sem))
+ ec_soe_request_init(&request);
+ ec_soe_request_set_drive_no(&request, drive_no);
+ ec_soe_request_set_idn(&request, idn);
+
+ ret = ec_soe_request_alloc(&request, data_size);
+ if (ret) {
+ ec_soe_request_clear(&request);
+ return ret;
+ }
+
+ memcpy(request.data, data, data_size);
+ request.data_size = data_size;
+ ec_soe_request_write(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_soe_request_clear(&request);
return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(
- master, 0, slave_position))) {
+ }
+
+ if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
slave_position);
- ec_soe_request_clear(&request.req);
+ ec_soe_request_clear(&request);
return -EINVAL;
}
- EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
+ EC_SLAVE_DBG(slave, 1, "Scheduling SoE write request.\n");
// schedule SoE write request.
- list_add_tail(&request.list, &request.slave->soe_requests);
+ list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
+ if (wait_event_interruptible(slave->soe_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
- ec_soe_request_clear(&request.req);
+ ec_soe_request_clear(&request);
return -EINTR;
}
up(&master->master_sem);
}
+ // FIXME slave may become invalid
+
// wait until master FSM has finished processing
- wait_event(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
+ wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
- *error_code = request.req.error_code;
- }
- retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
- ec_soe_request_clear(&request.req);
-
- return retval;
+ *error_code = request.error_code;
+ }
+ ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+ ec_soe_request_clear(&request);
+
+ return ret;
}
/*****************************************************************************/
@@ -2994,80 +2997,86 @@
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
- ec_master_soe_request_t request;
+ ec_soe_request_t request;
+ ec_slave_t *slave;
+ int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
- INIT_LIST_HEAD(&request.list);
- ec_soe_request_init(&request.req);
- ec_soe_request_set_drive_no(&request.req, drive_no);
- ec_soe_request_set_idn(&request.req, idn);
- ec_soe_request_read(&request.req);
-
- if (down_interruptible(&master->master_sem))
+ ec_soe_request_init(&request);
+ ec_soe_request_set_drive_no(&request, drive_no);
+ ec_soe_request_set_idn(&request, idn);
+ ec_soe_request_read(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_soe_request_clear(&request);
return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
+ }
+
+ if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
- ec_soe_request_clear(&request.req);
+ ec_soe_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
// schedule request.
- list_add_tail(&request.list, &request.slave->soe_requests);
+ list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
- EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
+ EC_SLAVE_DBG(slave, 1, "Scheduled SoE read request.\n");
// wait for processing through FSM
- if (wait_event_interruptible(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
+ if (wait_event_interruptible(slave->soe_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
- ec_soe_request_clear(&request.req);
+ ec_soe_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
+ // FIXME slave may become invalid
+
// wait until master FSM has finished processing
- wait_event(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
+ wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
- *error_code = request.req.error_code;
- }
-
- EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
- request.req.data_size);
-
- if (request.req.state != EC_INT_REQUEST_SUCCESS) {
+ *error_code = request.error_code;
+ }
+
+ EC_SLAVE_DBG(slave, 1, "Read %zd bytes via SoE.\n", request.data_size);
+
+ if (request.state != EC_INT_REQUEST_SUCCESS) {
if (result_size) {
*result_size = 0;
}
- ec_soe_request_clear(&request.req);
- return -EIO;
- } else {
- if (request.req.data_size > target_size) {
+ ret = -EIO;
+ } else { // success
+ if (request.data_size > target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
- ec_soe_request_clear(&request.req);
- return -EOVERFLOW;
- }
- if (result_size) {
- *result_size = request.req.data_size;
- }
- memcpy(target, request.req.data, request.req.data_size);
- return 0;
- }
+ ret = -EOVERFLOW;
+ }
+ else { // data fits in buffer
+ if (result_size) {
+ *result_size = request.data_size;
+ }
+ memcpy(target, request.data, request.data_size);
+ ret = 0;
+ }
+ }
+
+ ec_soe_request_clear(&request);
+ return ret;
}
/*****************************************************************************/
--- a/master/slave.c Tue Dec 04 14:26:30 2012 +0100
+++ b/master/slave.c Tue Dec 04 14:49:23 2012 +0100
@@ -225,13 +225,12 @@
}
while (!list_empty(&slave->soe_requests)) {
- ec_master_soe_request_t *request =
- list_entry(slave->soe_requests.next,
- ec_master_soe_request_t, list);
+ ec_soe_request_t *request =
+ list_entry(slave->soe_requests.next, ec_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;
+ request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->soe_queue);
}
--- a/master/soe_request.c Tue Dec 04 14:26:30 2012 +0100
+++ b/master/soe_request.c Tue Dec 04 14:49:23 2012 +0100
@@ -57,6 +57,7 @@
ec_soe_request_t *req /**< SoE request. */
)
{
+ INIT_LIST_HEAD(&req->list);
req->drive_no = 0x00;
req->idn = 0x0000;
req->al_state = EC_AL_STATE_INIT;