--- a/master/datagram.c Wed Aug 09 15:00:20 2006 +0000
+++ b/master/datagram.c Tue Aug 15 08:09:18 2006 +0000
@@ -77,7 +77,7 @@
datagram->index = 0x00;
datagram->working_counter = 0x00;
datagram->state = EC_DATAGRAM_INIT;
- datagram->t_sent = 0;
+ datagram->cycles_sent = 0;
}
/*****************************************************************************/
--- a/master/datagram.h Wed Aug 09 15:00:20 2006 +0000
+++ b/master/datagram.h Tue Aug 15 08:09:18 2006 +0000
@@ -118,7 +118,7 @@
uint8_t index; /**< datagram index (set by master) */
uint16_t working_counter; /**< working counter */
ec_datagram_state_t state; /**< datagram state */
- cycles_t t_sent; /**< time, the datagrams was sent */
+ cycles_t cycles_sent; /**< time, the datagram was sent */
}
ec_datagram_t;
--- a/master/domain.c Wed Aug 09 15:00:20 2006 +0000
+++ b/master/domain.c Tue Aug 15 08:09:18 2006 +0000
@@ -106,7 +106,7 @@
domain->data_size = 0;
domain->base_address = 0;
domain->response_count = 0xFFFFFFFF;
- domain->t_last = 0;
+ domain->notify_jiffies = 0;
domain->working_counter_changes = 0;
INIT_LIST_HEAD(&domain->data_regs);
@@ -513,7 +513,6 @@
{
unsigned int working_counter_sum;
ec_datagram_t *datagram;
- cycles_t t_now = get_cycles();
working_counter_sum = 0;
list_for_each_entry(datagram, &domain->datagrams, list) {
@@ -528,8 +527,8 @@
}
if (domain->working_counter_changes &&
- (u32) (t_now - domain->t_last) / cpu_khz > 1000) {
- domain->t_last = t_now;
+ jiffies - domain->notify_jiffies > HZ) {
+ domain->notify_jiffies = jiffies;
if (domain->working_counter_changes == 1) {
EC_INFO("Domain %i working counter change: %i\n", domain->index,
domain->response_count);
--- a/master/domain.h Wed Aug 09 15:00:20 2006 +0000
+++ b/master/domain.h Tue Aug 15 08:09:18 2006 +0000
@@ -69,7 +69,7 @@
struct list_head data_regs; /**< PDO data registrations */
unsigned int working_counter_changes; /**< working counter changes
since last notification */
- cycles_t t_last; /**< time of last notification */
+ unsigned long notify_jiffies; /**< time of last notification */
};
/*****************************************************************************/
--- a/master/ethernet.c Wed Aug 09 15:00:20 2006 +0000
+++ b/master/ethernet.c Tue Aug 15 08:09:18 2006 +0000
@@ -105,7 +105,7 @@
eoe->tx_counter = 0;
eoe->rx_rate = 0;
eoe->tx_rate = 0;
- eoe->t_last = 0;
+ eoe->rate_jiffies = 0;
if (!(eoe->dev =
alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {
@@ -278,21 +278,18 @@
void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
{
- cycles_t t_now;
-
if (!eoe->opened) return;
// call state function
eoe->state(eoe);
// update statistics
- t_now = get_cycles();
- if ((u32) (t_now - eoe->t_last) > cpu_khz * 1000) {
+ if (jiffies - eoe->rate_jiffies > HZ) {
eoe->rx_rate = eoe->rx_counter * 8;
eoe->tx_rate = eoe->tx_counter * 8;
eoe->rx_counter = 0;
eoe->tx_counter = 0;
- eoe->t_last = t_now;
+ eoe->rate_jiffies = jiffies;
}
}
--- a/master/ethernet.h Wed Aug 09 15:00:20 2006 +0000
+++ b/master/ethernet.h Tue Aug 15 08:09:18 2006 +0000
@@ -78,7 +78,7 @@
struct net_device *dev; /**< net_device for virtual ethernet device */
struct net_device_stats stats; /**< device statistics */
unsigned int opened; /**< net_device is opened */
- cycles_t t_last; /**< time of last rate output */
+ unsigned long rate_jiffies; /**< time of last rate output */
struct sk_buff *rx_skb; /**< current rx socket buffer */
off_t rx_skb_offset; /**< current write pointer in the socket buffer */
size_t rx_skb_size; /**< size of the allocated socket buffer memory */
--- a/master/fsm.c Wed Aug 09 15:00:20 2006 +0000
+++ b/master/fsm.c Tue Aug 15 08:09:18 2006 +0000
@@ -1779,7 +1779,7 @@
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// write new state to slave
ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
@@ -1807,7 +1807,7 @@
}
if (datagram->working_counter != 1) {
- if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 3 * HZ) {
fsm->change_state = ec_fsm_error;
EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
" respond.\n", fsm->change_new, fsm->slave->ring_position);
@@ -1821,7 +1821,7 @@
return;
}
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// read AL status from slave
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
@@ -1869,7 +1869,7 @@
return;
}
- if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
// timeout while checking
fsm->change_state = ec_fsm_error;
EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
@@ -1978,7 +1978,7 @@
return;
}
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// read new AL status
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
@@ -2014,7 +2014,7 @@
return;
}
- if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
// timeout while checking
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fsm->change_state = ec_fsm_error;
--- a/master/fsm.h Wed Aug 09 15:00:20 2006 +0000
+++ b/master/fsm.h Tue Aug 15 08:09:18 2006 +0000
@@ -75,7 +75,7 @@
void (*change_state)(ec_fsm_t *); /**< slave state change state function */
ec_slave_state_t change_new; /**< input: new state */
- cycles_t change_start; /**< change start */
+ unsigned long change_jiffies; /**< change timer */
void (*coe_state)(ec_fsm_t *); /**< CoE state function */
ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
--- a/master/master.c Wed Aug 09 15:00:20 2006 +0000
+++ b/master/master.c Tue Aug 15 08:09:18 2006 +0000
@@ -246,7 +246,7 @@
master->stats.corrupted = 0;
master->stats.skipped = 0;
master->stats.unmatched = 0;
- master->stats.t_last = 0;
+ master->stats.output_jiffies = 0;
master->mode = EC_MASTER_MODE_ORPHANED;
@@ -316,11 +316,11 @@
size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
- cycles_t t_start, t_end;
+ cycles_t cycles_start, cycles_end;
unsigned int frame_count, more_datagrams_waiting;
frame_count = 0;
- t_start = get_cycles();
+ cycles_start = get_cycles();
if (unlikely(master->debug_level > 1))
EC_DBG("ec_master_send_datagrams\n");
@@ -345,7 +345,7 @@
}
datagram->state = EC_DATAGRAM_SENT;
- datagram->t_sent = t_start;
+ datagram->cycles_sent = cycles_start;
datagram->index = master->datagram_index++;
if (unlikely(master->debug_level > 1))
@@ -397,9 +397,10 @@
while (more_datagrams_waiting);
if (unlikely(master->debug_level > 1)) {
- t_end = get_cycles();
+ cycles_end = get_cycles();
EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
- frame_count, (unsigned int) (t_end - t_start) * 1000 / cpu_khz);
+ frame_count,
+ (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
}
}
@@ -528,9 +529,9 @@
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
{
- cycles_t t_now = get_cycles();
-
- if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) {
+ if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
+ master->stats.output_jiffies = jiffies;
+
if (master->stats.timeouts) {
EC_WARN("%i datagrams TIMED OUT!\n", master->stats.timeouts);
master->stats.timeouts = 0;
@@ -551,7 +552,6 @@
EC_WARN("%i datagram(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
- master->stats.t_last = t_now;
}
}
@@ -610,25 +610,25 @@
void ec_master_idle_run(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
- cycles_t start, end;
+ cycles_t cycles_start, cycles_end;
// aquire master lock
spin_lock_bh(&master->internal_lock);
- start = get_cycles();
+ cycles_start = get_cycles();
ecrt_master_receive(master);
// execute master state machine
ec_fsm_execute(&master->fsm);
ecrt_master_send(master);
- end = get_cycles();
+ cycles_end = get_cycles();
// release master lock
spin_unlock_bh(&master->internal_lock);
master->idle_cycle_times[master->idle_cycle_time_pos]
- = (u32) (end - start) * 1000 / cpu_khz;
+ = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->idle_cycle_time_pos++;
master->idle_cycle_time_pos %= HZ;
@@ -958,7 +958,8 @@
ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
unsigned int active = 0;
- cycles_t start, end;
+ cycles_t cycles_start, cycles_end;
+ unsigned long restart_jiffies;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_active(eoe)) active++;
@@ -977,8 +978,8 @@
else
goto queue_timer;
- // actual EoE stuff
- start = get_cycles();
+ // actual EoE processing
+ cycles_start = get_cycles();
ecrt_master_receive(master);
list_for_each_entry(eoe, &master->eoe_handlers, list) {
@@ -986,7 +987,7 @@
}
ecrt_master_send(master);
- end = get_cycles();
+ cycles_end = get_cycles();
// release lock...
if (master->mode == EC_MASTER_MODE_OPERATION) {
@@ -997,12 +998,14 @@
}
master->eoe_cycle_times[master->eoe_cycle_time_pos]
- = (u32) (end - start) * 1000 / cpu_khz;
+ = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->eoe_cycle_time_pos++;
master->eoe_cycle_time_pos %= HZ;
queue_timer:
- master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
+ restart_jiffies = HZ / EC_EOE_FREQUENCY;
+ if (!restart_jiffies) restart_jiffies = 1;
+ master->eoe_timer.expires += restart_jiffies;
add_timer(&master->eoe_timer);
}
@@ -1047,7 +1050,7 @@
void ec_master_measure_bus_time(ec_master_t *master)
{
ec_datagram_t datagram;
- cycles_t t_start, t_end, t_timeout;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
uint32_t times[100], sum, min, max, i;
ec_datagram_init(&datagram);
@@ -1058,7 +1061,7 @@
return;
}
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
sum = 0;
min = 0xFFFFFFFF;
@@ -1067,11 +1070,11 @@
for (i = 0; i < 100; i++) {
ec_master_queue_datagram(master, &datagram);
ecrt_master_send(master);
- t_start = get_cycles();
+ cycles_start = get_cycles();
while (1) { // active waiting
ec_device_call_isr(master->device);
- t_end = get_cycles(); // take current time
+ cycles_end = get_cycles(); // take current time
if (datagram.state == EC_DATAGRAM_RECEIVED) {
break;
@@ -1080,13 +1083,13 @@
EC_WARN("Failed to measure bus time.\n");
goto error;
}
- else if (t_end - t_start >= t_timeout) {
+ else if (cycles_end - cycles_start >= cycles_timeout) {
EC_WARN("Timeout while measuring bus time.\n");
goto error;
}
}
- times[i] = (unsigned int) (t_end - t_start) * 1000 / cpu_khz;
+ times[i] = (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz;
sum += times[i];
if (times[i] > max) max = times[i];
if (times[i] < min) min = times[i];
@@ -1236,19 +1239,19 @@
{
ec_datagram_t *datagram, *n;
unsigned int datagrams_sent;
- cycles_t t_start, t_end, t_timeout;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
// send datagrams
ecrt_master_send(master);
- t_start = get_cycles(); // measure io time
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+ cycles_start = get_cycles(); // measure io time
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
while (1) { // active waiting
ec_device_call_isr(master->device);
- t_end = get_cycles(); // take current time
- if (t_end - t_start >= t_timeout) break; // timeout!
+ cycles_end = get_cycles(); // take current time
+ if (cycles_end - cycles_start >= cycles_timeout) break; // timeout!
datagrams_sent = 0;
list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
@@ -1318,12 +1321,12 @@
void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
- cycles_t t_received, t_timeout;
+ cycles_t cycles_received, cycles_timeout;
ec_device_call_isr(master->device);
- t_received = get_cycles();
- t_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
+ cycles_received = get_cycles();
+ cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
// dequeue all received datagrams
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue)
@@ -1335,7 +1338,7 @@
switch (datagram->state) {
case EC_DATAGRAM_SENT:
case EC_DATAGRAM_QUEUED:
- if (t_received - datagram->t_sent > t_timeout) {
+ if (cycles_received - datagram->cycles_sent > cycles_timeout) {
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
@@ -1360,7 +1363,7 @@
void ecrt_master_prepare(ec_master_t *master /**< EtherCAT master */)
{
ec_domain_t *domain;
- cycles_t t_start, t_end, t_timeout;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
// queue datagrams of all domains
list_for_each_entry(domain, &master->domains, list)
@@ -1368,13 +1371,13 @@
ecrt_master_send(master);
- t_start = get_cycles(); // take sending time
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+ cycles_start = get_cycles(); // take sending time
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
// active waiting
while (1) {
- t_end = get_cycles();
- if (t_end - t_start >= t_timeout) break;
+ cycles_end = get_cycles();
+ if (cycles_end - cycles_start >= cycles_timeout) break;
}
}
--- a/master/master.h Wed Aug 09 15:00:20 2006 +0000
+++ b/master/master.h Tue Aug 15 08:09:18 2006 +0000
@@ -78,7 +78,7 @@
requeued when not yet received) */
unsigned int unmatched; /**< unmatched datagrams (received, but not
queued any longer) */
- cycles_t t_last; /**< time of last output */
+ unsigned long output_jiffies; /**< time of last output */
}
ec_stats_t;