--- a/master/fsm_master.c Tue Dec 04 14:54:12 2012 +0100
+++ b/master/fsm_master.c Tue Dec 04 16:05:23 2012 +0100
@@ -1136,7 +1136,7 @@
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
EC_SLAVE_ERR(slave, "Failed to write SII data.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&master->sii_queue);
+ wake_up(&master->request_queue);
ec_fsm_master_restart(fsm);
return;
}
@@ -1164,7 +1164,7 @@
// TODO: Evaluate other SII contents!
request->state = EC_INT_REQUEST_SUCCESS;
- wake_up(&master->sii_queue);
+ wake_up(&master->request_queue);
// check for another SII write request
if (ec_fsm_master_action_process_sii(fsm))
@@ -1232,14 +1232,14 @@
EC_SLAVE_DBG(fsm->slave, 1,
"Failed to process internal SDO request.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&fsm->slave->sdo_queue);
+ wake_up(&fsm->master->request_queue);
ec_fsm_master_restart(fsm);
return;
}
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
- wake_up(&fsm->slave->sdo_queue);
+ wake_up(&fsm->master->request_queue);
EC_SLAVE_DBG(fsm->slave, 1, "Finished internal SDO request.\n");
--- a/master/fsm_slave.c Tue Dec 04 14:54:12 2012 +0100
+++ b/master/fsm_slave.c Tue Dec 04 16:05:23 2012 +0100
@@ -180,45 +180,45 @@
)
{
ec_slave_t *slave = fsm->slave;
- ec_sdo_request_t *request, *next;
-
- // search the first external request to be processed
- list_for_each_entry_safe(request, next, &slave->sdo_requests, list) {
-
- list_del_init(&request->list); // dequeue
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- EC_SLAVE_WARN(slave, "Aborting SDO request,"
- " slave has error flag set.\n");
- request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
-
- if (slave->current_state == EC_SLAVE_STATE_INIT) {
- EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
- request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
-
- request->state = EC_INT_REQUEST_BUSY;
-
- // Found pending SDO request. Execute it!
- EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
-
- // Start SDO transfer
- fsm->sdo_request = request;
- fsm->state = ec_fsm_slave_state_sdo_request;
- ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+ ec_sdo_request_t *request;
+
+ if (list_empty(&slave->sdo_requests)) {
+ return 0;
+ }
+
+ // take the first request to be processed
+ request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
+ list_del_init(&request->list); // dequeue
+
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ EC_SLAVE_WARN(slave, "Aborting SDO request,"
+ " slave has error flag set.\n");
+ request->state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->master->request_queue);
+ fsm->state = ec_fsm_slave_state_idle;
return 1;
}
- return 0;
+
+ if (slave->current_state == EC_SLAVE_STATE_INIT) {
+ EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
+ request->state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->master->request_queue);
+ fsm->state = ec_fsm_slave_state_idle;
+ return 1;
+ }
+
+ request->state = EC_INT_REQUEST_BUSY;
+
+ // Found pending SDO request. Execute it!
+ EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
+
+ // Start SDO transfer
+ fsm->sdo_request = request;
+ fsm->state = ec_fsm_slave_state_sdo_request;
+ ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+ return 1;
}
/*****************************************************************************/
@@ -240,7 +240,7 @@
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
+ wake_up(&slave->master->request_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
@@ -250,8 +250,7 @@
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
- wake_up(&slave->sdo_queue);
-
+ wake_up(&slave->master->request_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
@@ -296,7 +295,8 @@
EC_SLAVE_WARN(slave, "Aborting register request,"
" slave has error flag set.\n");
fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->reg_queue);
+ wake_up(&slave->master->request_queue);
+ fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
@@ -345,7 +345,8 @@
" request datagram: ");
ec_datagram_print_state(fsm->datagram);
reg->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->reg_queue);
+ wake_up(&slave->master->request_queue);
+ fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
}
@@ -365,7 +366,8 @@
fsm->datagram->working_counter);
}
- wake_up(&slave->reg_queue);
+ wake_up(&slave->master->request_queue);
+ fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
@@ -394,8 +396,9 @@
EC_SLAVE_WARN(slave, "Aborting FoE request,"
" slave has error flag set.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- return 0;
+ wake_up(&slave->master->request_queue);
+ fsm->state = ec_fsm_slave_state_idle;
+ return 1;
}
request->state = EC_INT_REQUEST_BUSY;
@@ -429,7 +432,7 @@
if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->foe_queue);
+ wake_up(&slave->master->request_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
@@ -440,8 +443,7 @@
" data.\n", request->data_size);
request->state = EC_INT_REQUEST_SUCCESS;
- wake_up(&slave->foe_queue);
-
+ wake_up(&slave->master->request_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
@@ -471,14 +473,16 @@
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;
+ wake_up(&slave->master->request_queue);
+ fsm->state = ec_fsm_slave_state_idle;
+ return 1;
}
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);
+ wake_up(&slave->master->request_queue);
+ fsm->state = ec_fsm_slave_state_idle;
return 0;
}
@@ -515,7 +519,7 @@
if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->soe_queue);
+ wake_up(&slave->master->request_queue);
fsm->soe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
@@ -525,8 +529,7 @@
// SoE request finished
request->state = EC_INT_REQUEST_SUCCESS;
- wake_up(&slave->soe_queue);
-
+ wake_up(&slave->master->request_queue);
fsm->soe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
--- a/master/ioctl.c Tue Dec 04 14:54:12 2012 +0100
+++ b/master/ioctl.c Tue Dec 04 16:05:23 2012 +0100
@@ -911,8 +911,9 @@
return -EFAULT;
}
- if (!data.nwords)
+ if (!data.nwords) {
return 0;
+ }
byte_size = sizeof(uint16_t) * data.nwords;
if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
@@ -927,8 +928,10 @@
return -EFAULT;
}
- if (down_interruptible(&master->master_sem))
+ if (down_interruptible(&master->master_sem)) {
+ kfree(words);
return -EINTR;
+ }
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
@@ -953,7 +956,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(master->sii_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -968,7 +971,7 @@
}
// wait until master FSM has finished processing
- wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
kfree(words);
@@ -1025,7 +1028,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->reg_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -1040,7 +1043,7 @@
}
// wait until master FSM has finished processing
- wait_event(slave->reg_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
if (request.state == EC_INT_REQUEST_SUCCESS) {
if (copy_to_user((void __user *) io.data, request.data, io.size)) {
@@ -1092,8 +1095,7 @@
return -EINTR;
}
- if (!(slave = ec_master_find_slave(
- master, 0, io.slave_position))) {
+ if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
up(&master->master_sem);
ec_reg_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
@@ -1107,7 +1109,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->reg_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -1122,7 +1124,7 @@
}
// wait until master FSM has finished processing
- wait_event(slave->reg_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
ec_reg_request_clear(&request);
@@ -3597,15 +3599,15 @@
return -EINVAL;
}
+ EC_SLAVE_DBG(slave, 1, "Scheduling FoE read request.\n");
+
// schedule request.
list_add_tail(&request.list, &slave->foe_requests);
up(&master->master_sem);
- EC_SLAVE_DBG(slave, 1, "Scheduled FoE read request.\n");
-
// wait for processing through FSM
- if (wait_event_interruptible(slave->foe_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -3619,17 +3621,12 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid
-
// wait until master FSM has finished processing
- wait_event(slave->foe_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
io.result = request.result;
io.error_code = request.error_code;
- EC_SLAVE_DBG(slave, 1, "Read %zd bytes via FoE (result = 0x%x).\n",
- request.data_size, request.result);
-
if (request.state != EC_INT_REQUEST_SUCCESS) {
io.data_size = 0;
ret = -EIO;
@@ -3652,10 +3649,7 @@
ret = -EFAULT;
}
- EC_SLAVE_DBG(slave, 1, "Finished FoE read request.\n");
-
ec_foe_request_clear(&request);
-
return ret;
}
@@ -3715,7 +3709,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->foe_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -3729,10 +3723,8 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid
-
// wait until master FSM has finished processing
- wait_event(slave->foe_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
io.result = request.result;
io.error_code = request.error_code;
@@ -3744,9 +3736,6 @@
}
ec_foe_request_clear(&request);
-
- EC_SLAVE_DBG(slave, 1, "Finished FoE write request.\n");
-
return ret;
}
--- a/master/master.c Tue Dec 04 14:54:12 2012 +0100
+++ b/master/master.c Tue Dec 04 16:05:23 2012 +0100
@@ -220,7 +220,8 @@
master->app_cb_data = NULL;
INIT_LIST_HEAD(&master->sii_requests);
- init_waitqueue_head(&master->sii_queue);
+
+ init_waitqueue_head(&master->request_queue);
// init devices
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
@@ -434,8 +435,8 @@
master->dc_ref_clock = NULL;
- // external requests are obsolete, so we wake pending waiters and remove
- // them from the list
+ // External requests are obsolete, so we wake pending waiters and remove
+ // them from the list.
while (!list_empty(&master->sii_requests)) {
ec_sii_write_request_t *request =
@@ -445,7 +446,7 @@
EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
" to be deleted.\n", request->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&master->sii_queue);
+ wake_up(&master->request_queue);
}
for (slave = master->slaves;
@@ -2667,6 +2668,7 @@
{
ec_sdo_request_t request;
ec_slave_t *slave;
+ int ret;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
@@ -2681,9 +2683,10 @@
ec_sdo_request_init(&request);
ecrt_sdo_request_index(&request, index, subindex);
- if (ec_sdo_request_alloc(&request, data_size)) {
+ ret = ec_sdo_request_alloc(&request, data_size);
+ if (ret) {
ec_sdo_request_clear(&request);
- return -ENOMEM;
+ return ret;
}
memcpy(request.data, data, data_size);
@@ -2702,7 +2705,7 @@
return -EINVAL;
}
- EC_SLAVE_DBG(slave, 1, "Schedule SDO download request.\n");
+ EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request.\n");
// schedule request.
list_add_tail(&request.list, &slave->sdo_requests);
@@ -2710,7 +2713,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->sdo_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -2724,22 +2727,21 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid!
-
// wait until master FSM has finished processing
- wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
-
- EC_SLAVE_DBG(slave, 1, "Finished SDO download request.\n");
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state == EC_INT_REQUEST_SUCCESS) {
- return 0;
+ ret = 0;
} else if (request.errno) {
- return -request.errno;
+ ret = -request.errno;
} else {
- return -EIO;
- }
+ ret = -EIO;
+ }
+
+ ec_sdo_request_clear(&request);
+ return ret;
}
/*****************************************************************************/
@@ -2750,6 +2752,7 @@
{
ec_sdo_request_t request;
ec_slave_t *slave;
+ int ret;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X,"
@@ -2764,9 +2767,10 @@
ec_sdo_request_init(&request);
ecrt_sdo_request_index(&request, index, 0);
- if (ec_sdo_request_alloc(&request, data_size)) {
+ ret = ec_sdo_request_alloc(&request, data_size);
+ if (ret) {
ec_sdo_request_clear(&request);
- return -ENOMEM;
+ return ret;
}
request.complete_access = 1;
@@ -2786,7 +2790,7 @@
return -EINVAL;
}
- EC_SLAVE_DBG(slave, 1, "Schedule SDO download request"
+ EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request"
" (complete access).\n");
// schedule request.
@@ -2795,7 +2799,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->sdo_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -2809,23 +2813,21 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid!
-
// wait until master FSM has finished processing
- wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
-
- EC_SLAVE_DBG(slave, 1, "Finished SDO download request"
- " (complete access).\n");
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state == EC_INT_REQUEST_SUCCESS) {
- return 0;
+ ret = 0;
} else if (request.errno) {
- return -request.errno;
+ ret = -request.errno;
} else {
- return -EIO;
- }
+ ret = -EIO;
+ }
+
+ ec_sdo_request_clear(&request);
+ return ret;
}
/*****************************************************************************/
@@ -2836,7 +2838,7 @@
{
ec_sdo_request_t request;
ec_slave_t *slave;
- int retval = 0;
+ int ret = 0;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
@@ -2861,7 +2863,7 @@
return -EINVAL;
}
- EC_SLAVE_DBG(slave, 1, "Schedule SDO upload request.\n");
+ EC_SLAVE_DBG(slave, 1, "Scheduling SDO upload request.\n");
// schedule request.
list_add_tail(&request.list, &slave->sdo_requests);
@@ -2869,7 +2871,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->sdo_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -2883,34 +2885,32 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid!
-
// wait until master FSM has finished processing
- wait_event(slave->sdo_queue, request.state != EC_INT_REQUEST_BUSY);
-
- EC_SLAVE_DBG(slave, 1, "Finished SDO upload request.\n");
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state != EC_INT_REQUEST_SUCCESS) {
*result_size = 0;
if (request.errno) {
- retval = -request.errno;
+ ret = -request.errno;
} else {
- retval = -EIO;
+ ret = -EIO;
}
} else {
if (request.data_size > target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
- ec_sdo_request_clear(&request);
- return -EOVERFLOW;
- }
- memcpy(target, request.data, request.data_size);
- *result_size = request.data_size;
+ ret = -EOVERFLOW;
+ }
+ else {
+ memcpy(target, request.data, request.data_size);
+ *result_size = request.data_size;
+ ret = 0;
+ }
}
ec_sdo_request_clear(&request);
- return retval;
+ return ret;
}
/*****************************************************************************/
@@ -2963,7 +2963,7 @@
up(&master->master_sem);
// wait for processing through FSM
- if (wait_event_interruptible(slave->soe_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -2977,10 +2977,8 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid
-
// wait until master FSM has finished processing
- wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.error_code;
@@ -3023,15 +3021,15 @@
return -EINVAL;
}
+ EC_SLAVE_DBG(slave, 1, "Scheduling SoE read request.\n");
+
// schedule request.
list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
- EC_SLAVE_DBG(slave, 1, "Scheduled SoE read request.\n");
-
// wait for processing through FSM
- if (wait_event_interruptible(slave->soe_queue,
+ if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
@@ -3045,17 +3043,13 @@
up(&master->master_sem);
}
- // FIXME slave may become invalid
-
// wait until master FSM has finished processing
- wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*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;
--- a/master/master.h Tue Dec 04 14:54:12 2012 +0100
+++ b/master/master.h Tue Dec 04 16:05:23 2012 +0100
@@ -287,8 +287,9 @@
void *app_cb_data; /**< Application callback data. */
struct list_head sii_requests; /**< SII write requests. */
- wait_queue_head_t sii_queue; /**< Wait queue for SII
- write requests from user space. */
+
+ wait_queue_head_t request_queue; /**< Wait queue for external requests
+ from user space. */
};
/*****************************************************************************/
--- a/master/slave.c Tue Dec 04 14:54:12 2012 +0100
+++ b/master/slave.c Tue Dec 04 16:05:23 2012 +0100
@@ -153,16 +153,9 @@
slave->jiffies_preop = 0;
INIT_LIST_HEAD(&slave->sdo_requests);
- init_waitqueue_head(&slave->sdo_queue);
-
INIT_LIST_HEAD(&slave->reg_requests);
- init_waitqueue_head(&slave->reg_queue);
-
INIT_LIST_HEAD(&slave->foe_requests);
- init_waitqueue_head(&slave->foe_queue);
-
INIT_LIST_HEAD(&slave->soe_requests);
- init_waitqueue_head(&slave->soe_queue);
// init state machine datagram
ec_datagram_init(&slave->fsm_datagram);
@@ -201,7 +194,7 @@
EC_SLAVE_WARN(slave, "Discarding SDO request,"
" slave about to be deleted.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
+ wake_up(&slave->master->request_queue);
}
while (!list_empty(&slave->reg_requests)) {
@@ -211,7 +204,7 @@
EC_SLAVE_WARN(slave, "Discarding register request,"
" slave about to be deleted.\n");
reg->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->reg_queue);
+ wake_up(&slave->master->request_queue);
}
while (!list_empty(&slave->foe_requests)) {
@@ -221,7 +214,7 @@
EC_SLAVE_WARN(slave, "Discarding FoE request,"
" slave about to be deleted.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->foe_queue);
+ wake_up(&slave->master->request_queue);
}
while (!list_empty(&slave->soe_requests)) {
@@ -231,7 +224,7 @@
EC_SLAVE_WARN(slave, "Discarding SoE request,"
" slave about to be deleted.\n");
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->soe_queue);
+ wake_up(&slave->master->request_queue);
}
if (slave->config) {
--- a/master/slave.h Tue Dec 04 14:54:12 2012 +0100
+++ b/master/slave.h Tue Dec 04 16:05:23 2012 +0100
@@ -225,17 +225,10 @@
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
struct list_head sdo_requests; /**< SDO access requests. */
- wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
- from user space. */
struct list_head reg_requests; /**< Register access requests. */
- wait_queue_head_t reg_queue; /**< Wait queue for register access requests
- from user space. */
struct list_head foe_requests; /**< FoE write requests. */
- wait_queue_head_t foe_queue; /**< Wait queue for FoE requests from user
- space. */
- struct list_head soe_requests; /**< FoE write requests. */
- wait_queue_head_t soe_queue; /**< Wait queue for SoE requests from user
- space. */
+ struct list_head soe_requests; /**< SoE write requests. */
+
ec_fsm_slave_t fsm; /**< Slave state machine. */
ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
};