Measure bus time.
--- a/master/master.c Thu Aug 03 16:48:53 2006 +0000
+++ b/master/master.c Thu Aug 03 19:17:08 2006 +0000
@@ -949,6 +949,69 @@
}
}
+/*****************************************************************************/
+
+/**
+ Measures the time, a frame is on the bus.
+*/
+
+void ec_master_measure_bus_time(ec_master_t *master)
+{
+ ec_datagram_t datagram;
+ cycles_t t_start, t_end, t_timeout;
+ uint32_t times[100], sum, min, max, i;
+
+ ec_datagram_init(&datagram);
+
+ if (ec_datagram_brd(&datagram, 0x130, 2)) {
+ EC_ERR("Failed to allocate datagram for bus time measuring.\n");
+ ec_datagram_clear(&datagram);
+ return;
+ }
+
+ t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+
+ sum = 0;
+ min = 0xFFFFFFFF;
+ max = 0;
+
+ for (i = 0; i < 100; i++) {
+ ec_master_queue_datagram(master, &datagram);
+ ecrt_master_send(master);
+ t_start = get_cycles();
+
+ while (1) { // active waiting
+ ec_device_call_isr(master->device);
+ t_end = get_cycles(); // take current time
+
+ if (datagram.state == EC_DATAGRAM_RECEIVED) {
+ break;
+ }
+ else if (datagram.state == EC_DATAGRAM_ERROR) {
+ EC_WARN("Failed to measure bus time.\n");
+ goto error;
+ }
+ else if (t_end - t_start >= t_timeout) {
+ EC_WARN("Timeout while measuring bus time.\n");
+ goto error;
+ }
+ }
+
+ times[i] = (unsigned int) (t_end - t_start) * 1000 / cpu_khz;
+ sum += times[i];
+ if (times[i] > max) max = times[i];
+ if (times[i] < min) min = times[i];
+ }
+
+ EC_INFO("Bus time is (min/avg/max) %u/%u.%u/%u us.\n",
+ min, sum / 100, sum % 100, max);
+
+ error:
+ // Dequeue and free datagram
+ list_del(&datagram.queue);
+ ec_datagram_clear(&datagram);
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
--- a/master/master.h Thu Aug 03 16:48:53 2006 +0000
+++ b/master/master.h Thu Aug 03 19:17:08 2006 +0000
@@ -150,6 +150,7 @@
// misc.
void ec_master_output_stats(ec_master_t *);
void ec_master_clear_slaves(ec_master_t *);
+void ec_master_measure_bus_time(ec_master_t *);
// other methods
void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *);
--- a/master/module.c Thu Aug 03 16:48:53 2006 +0000
+++ b/master/module.c Thu Aug 03 19:17:08 2006 +0000
@@ -369,6 +369,7 @@
return -1;
}
+ ec_master_measure_bus_time(master);
ec_master_idle_start(master);
return 0;
}
@@ -429,6 +430,7 @@
goto out_release;
}
+ ec_master_measure_bus_time(master);
ec_master_idle_stop(master);
ec_master_reset(master);
master->mode = EC_MASTER_MODE_OPERATION;