Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
--- a/master/cdev.c Mon Jun 30 15:51:46 2008 +0000
+++ b/master/cdev.c Tue Jul 01 15:38:20 2008 +0000
@@ -138,8 +138,8 @@
EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
(u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
- // FIXME lock
-
+ down(&master->master_sem);
+
switch (cmd) {
case EC_IOCTL_MASTER:
{
@@ -1012,6 +1012,7 @@
retval = -ENOTTY;
}
+ up(&master->master_sem);
return retval;
}
--- a/master/domain.c Mon Jun 30 15:51:46 2008 +0000
+++ b/master/domain.c Tue Jul 01 15:38:20 2008 +0000
@@ -344,10 +344,14 @@
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)
{
+ down(&domain->master->master_sem);
+
ec_domain_clear_data(domain);
domain->data = mem;
domain->data_origin = EC_ORIG_EXTERNAL;
+
+ up(&domain->master->master_sem);
}
/*****************************************************************************/
--- a/master/master.c Mon Jun 30 15:51:46 2008 +0000
+++ b/master/master.c Tue Jul 01 15:38:20 2008 +0000
@@ -85,6 +85,8 @@
master->index = index;
master->reserved = 0;
+ init_MUTEX(&master->master_sem);
+
master->main_mac = main_mac;
master->backup_mac = backup_mac;
init_MUTEX(&master->device_sem);
@@ -360,13 +362,13 @@
ec_master_t *master /**< EtherCAT master */
)
{
+ if (master->debug_level)
+ EC_DBG("ORPHANED -> IDLE.\n");
+
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
- if (master->debug_level)
- EC_DBG("ORPHANED -> IDLE.\n");
-
master->phase = EC_IDLE;
if (ec_master_thread_start(master, ec_master_idle_thread)) {
master->phase = EC_ORPHANED;
@@ -391,7 +393,10 @@
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
+
+ down(&master->master_sem);
ec_master_clear_slaves(master);
+ up(&master->master_sem);
}
/*****************************************************************************/
@@ -457,9 +462,6 @@
}
#endif
- if (master->debug_level)
- EC_DBG("Switching to operation phase.\n");
-
master->phase = EC_OPERATION;
master->ext_request_cb = NULL;
master->ext_release_cb = NULL;
@@ -498,8 +500,10 @@
master->release_cb = ec_master_release_cb;
master->cb_data = master;
+ down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
+ up(&master->master_sem);
// set states for all slaves
for (slave = master->slaves;
@@ -826,7 +830,9 @@
goto schedule;
// execute master state machine
+ down(&master->master_sem);
ec_fsm_master_exec(&master->fsm);
+ up(&master->master_sem);
// queue and send
spin_lock_bh(&master->internal_lock);
@@ -870,7 +876,9 @@
ec_master_output_stats(master);
// execute master state machine
+ down(&master->master_sem);
ec_fsm_master_exec(&master->fsm);
+ up(&master->master_sem);
// inject datagram
master->injection_seq_fsm++;
@@ -1146,6 +1154,8 @@
return NULL;
}
+ down(&master->master_sem);
+
if (list_empty(&master->domains)) {
index = 0;
} else {
@@ -1156,6 +1166,8 @@
ec_domain_init(domain, master, index);
list_add_tail(&domain->list, &master->domains);
+ up(&master->master_sem);
+
return domain;
}
@@ -1166,6 +1178,8 @@
uint32_t domain_offset;
ec_domain_t *domain;
+ down(&master->master_sem);
+
// finish all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
@@ -1175,6 +1189,8 @@
}
domain_offset += domain->data_size;
}
+
+ up(&master->master_sem);
// restart EoE process and master thread with new locking
#ifdef EC_EOE
@@ -1327,11 +1343,15 @@
ec_slave_config_init(sc, master,
alias, position, vendor_id, product_code);
+
+ down(&master->master_sem);
+
// try to find the addressed slave
ec_slave_config_attach(sc);
ec_slave_config_load_default_sync_config(sc);
-
list_add_tail(&sc->list, &master->configs);
+
+ up(&master->master_sem);
}
return sc;
--- a/master/master.h Mon Jun 30 15:51:46 2008 +0000
+++ b/master/master.h Tue Jul 01 15:38:20 2008 +0000
@@ -88,6 +88,7 @@
ec_cdev_t cdev; /**< Master character device. */
struct class_device *class_device; /**< Master class device. */
+ struct semaphore master_sem; /**< Master semaphore. */
ec_device_t main_device; /**< EtherCAT main device. */
const uint8_t *main_mac; /**< MAC address of main device. */
--- a/master/slave_config.c Mon Jun 30 15:51:46 2008 +0000
+++ b/master/slave_config.c Tue Jul 01 15:38:20 2008 +0000
@@ -151,7 +151,11 @@
}
fmmu = &sc->fmmu_configs[sc->used_fmmus++];
+
+ down(&sc->master->master_sem);
ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
+ up(&sc->master->master_sem);
+
return fmmu->logical_start_address;
}
@@ -388,11 +392,18 @@
return -1;
}
- if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index)))
- return -1;
+ down(&sc->master->master_sem);
+
+ if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,
+ pdo_index))) {
+ up(&sc->master->master_sem);
+ return -1;
+ }
pdo->sync_index = sync_index;
ec_slave_config_load_default_mapping(sc, pdo);
+
+ up(&sc->master->master_sem);
return 0;
}
@@ -410,7 +421,9 @@
return;
}
+ down(&sc->master->master_sem);
ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
+ up(&sc->master->master_sem);
}
/*****************************************************************************/
@@ -421,6 +434,7 @@
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
+ int retval = -1;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "
@@ -434,14 +448,17 @@
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
- if (!pdo) {
+ if (pdo) {
+ down(&sc->master->master_sem);
+ retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
+ entry_bit_length) ? 0 : -1;
+ up(&sc->master->master_sem);
+ } else {
EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
- return -1;
- }
-
- return ec_pdo_add_entry(pdo, entry_index, entry_subindex,
- entry_bit_length) ? 0 : -1;
+ }
+
+ return retval;
}
/*****************************************************************************/
@@ -461,13 +478,14 @@
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
- if (!pdo) {
+ if (pdo) {
+ down(&sc->master->master_sem);
+ ec_pdo_clear_entries(pdo);
+ up(&sc->master->master_sem);
+ } else {
EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
- return;
- }
-
- ec_pdo_clear_entries(pdo);
+ }
}
/*****************************************************************************/
@@ -563,11 +581,6 @@
if (entry->index != index || entry->subindex != subindex) {
bit_offset += entry->bit_length;
} else {
- sync_offset = ec_slave_config_prepare_fmmu(
- sc, domain, sync_index, sync_config->dir);
- if (sync_offset < 0)
- return -2;
-
bit_pos = bit_offset % 8;
if (bit_position) {
*bit_position = bit_pos;
@@ -578,6 +591,11 @@
return -3;
}
+ sync_offset = ec_slave_config_prepare_fmmu(
+ sc, domain, sync_index, sync_config->dir);
+ if (sync_offset < 0)
+ return -2;
+
return sync_offset + bit_offset / 8;
}
}
@@ -618,7 +636,10 @@
return -1;
}
+ down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_configs);
+ up(&sc->master->master_sem);
+
return 0;
}
@@ -678,7 +699,10 @@
memset(req->data, 0x00, size);
req->data_size = size;
+ down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_requests);
+ up(&sc->master->master_sem);
+
return req;
}