--- a/include/ecrt.h Mon Dec 14 13:11:36 2009 +0100
+++ b/include/ecrt.h Mon Dec 14 13:25:50 2009 +0100
@@ -698,6 +698,15 @@
ec_master_t *master /**< EtherCAT master. */
);
+
+/** Set max. number of databytes in a cycle
+ *
+ */
+int ecrt_master_set_max_cycle_size(
+ ec_master_t *master, /**< EtherCAT master. */
+ size_t max_cycle_data_size /**< Max. number of databytes in a cycle */
+ );
+
/** Sends all datagrams in the queue.
*
* This method takes all datagrams, that have been queued for transmission,
--- a/lib/master.c Mon Dec 14 13:11:36 2009 +0100
+++ b/lib/master.c Mon Dec 14 13:25:50 2009 +0100
@@ -344,6 +344,21 @@
}
}
+
+/*****************************************************************************/
+
+int ecrt_master_set_max_cycle_size(ec_master_t *master,size_t max_cycle_data_size)
+{
+ if (ioctl(master->fd, EC_IOCTL_SET_MAX_CYCLE_SIZE,
+ &max_cycle_data_size) == -1) {
+ fprintf(stderr, "Failed to activate master: %s\n",
+ strerror(errno));
+ return -1; // FIXME
+ }
+ return 0;
+}
+
+
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
--- a/master/Kbuild.in Mon Dec 14 13:11:36 2009 +0100
+++ b/master/Kbuild.in Mon Dec 14 13:25:50 2009 +0100
@@ -44,6 +44,7 @@
fsm_coe.o \
fsm_foe.o \
fsm_master.o \
+ fsm_slave.o \
fsm_pdo.o \
fsm_pdo_entry.o \
fsm_sii.o \
--- a/master/Makefile.am Mon Dec 14 13:11:36 2009 +0100
+++ b/master/Makefile.am Mon Dec 14 13:25:50 2009 +0100
@@ -43,6 +43,7 @@
fsm_coe.c fsm_coe.h \
fsm_foe.c fsm_foe.h \
fsm_master.c fsm_master.h \
+ fsm_slave.c fsm_slave.h \
fsm_pdo.c fsm_pdo.h \
fsm_pdo_entry.c fsm_pdo_entry.h \
fsm_sii.c fsm_sii.h \
--- a/master/cdev.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/cdev.c Mon Dec 14 13:25:50 2009 +0100
@@ -805,6 +805,8 @@
return -EINVAL;
}
+ if (master->debug_level)
+ EC_DBG("Schedule SDO upload request for slave %u\n",request.slave->ring_position);
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
@@ -816,7 +818,7 @@
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
- list_del(&request.req.list);
+ list_del(&request.list);
up(&master->master_sem);
ec_sdo_request_clear(&request.req);
return -EINTR;
@@ -828,6 +830,9 @@
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
+ if (master->debug_level)
+ EC_DBG("Scheduled SDO upload request for slave %u done\n",request.slave->ring_position);
+
data.abort_code = request.req.abort_code;
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
@@ -906,6 +911,8 @@
return -EINVAL;
}
+ if (master->debug_level)
+ EC_DBG("Schedule SDO download request for slave %u\n",request.slave->ring_position);
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
@@ -917,7 +924,7 @@
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
- list_del(&request.req.list);
+ list_del(&request.list);
up(&master->master_sem);
ec_sdo_request_clear(&request.req);
return -EINTR;
@@ -929,6 +936,9 @@
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
+ if (master->debug_level)
+ EC_DBG("Scheduled SDO download request for slave %u done\n",request.slave->ring_position);
+
data.abort_code = request.req.abort_code;
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
@@ -1663,6 +1673,32 @@
return 0;
}
+
+/*****************************************************************************/
+
+/** Set max. number of databytes in a cycle
+ */
+int ec_cdev_ioctl_set_max_cycle_size(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ size_t max_cycle_size;
+
+ if (copy_from_user(&max_cycle_size, (void __user *) arg, sizeof(max_cycle_size))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+ master->max_queue_size = max_cycle_size;
+ up(&master->master_sem);
+
+ return 0;
+}
+
+
/*****************************************************************************/
/** Send frames.
@@ -3456,6 +3492,10 @@
return ec_cdev_ioctl_voe_exec(master, arg, priv);
case EC_IOCTL_VOE_DATA:
return ec_cdev_ioctl_voe_data(master, arg, priv);
+ case EC_IOCTL_SET_MAX_CYCLE_SIZE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_set_max_cycle_size(master,arg,priv);
default:
return -ENOTTY;
}
--- a/master/fsm_master.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/fsm_master.c Mon Dec 14 13:25:50 2009 +0100
@@ -60,6 +60,7 @@
void ec_fsm_master_state_reg_request(ec_fsm_master_t *);
void ec_fsm_master_state_foe_request(ec_fsm_master_t *);
+
/*****************************************************************************/
/** Constructor.
@@ -115,18 +116,21 @@
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
- */
-void ec_fsm_master_exec(
+ *
+ * \return true, if the state machine was executed
+ */
+int ec_fsm_master_exec(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
- return;
+ return 0;
}
fsm->state(fsm);
+ return 1;
}
/*****************************************************************************/
@@ -411,7 +415,6 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave;
ec_sdo_request_t *req;
- ec_master_sdo_request_t *request;
// search for internal requests to be processed
for (slave = master->slaves;
@@ -425,7 +428,7 @@
if (ec_sdo_request_timed_out(req)) {
req->state = EC_INT_REQUEST_FAILURE;
if (master->debug_level)
- EC_DBG("SDO request for slave %u timed out...\n",
+ EC_DBG("Internal SDO request for slave %u timed out...\n",
slave->ring_position);
continue;
}
@@ -437,7 +440,7 @@
req->state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
- EC_DBG("Processing SDO request for slave %u...\n",
+ EC_DBG("Processing internal SDO request for slave %u...\n",
slave->ring_position);
fsm->idle = 0;
@@ -450,42 +453,6 @@
}
}
}
-
- // search the first external request to be processed
- while (1) {
- if (list_empty(&master->slave_sdo_requests))
- break;
-
- // get first request
- request = list_entry(master->slave_sdo_requests.next,
- ec_master_sdo_request_t, list);
- list_del_init(&request->list); // dequeue
- request->req.state = EC_INT_REQUEST_BUSY;
-
- slave = request->slave;
- if (slave->current_state == EC_SLAVE_STATE_INIT) {
- EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&master->sdo_queue);
- continue;
- }
-
- // Found pending SDO request. Execute it!
- if (master->debug_level)
- EC_DBG("Processing SDO request for slave %u...\n",
- slave->ring_position);
-
- // Start uploading SDO
- fsm->idle = 0;
- fsm->sdo_request = &request->req;
- fsm->slave = slave;
- fsm->state = ec_fsm_master_state_sdo_request;
- ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- return 1;
- }
-
return 0;
}
@@ -1047,7 +1014,7 @@
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- EC_DBG("Failed to process SDO request for slave %u.\n",
+ EC_DBG("Failed to process internal SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
@@ -1060,7 +1027,7 @@
wake_up(&master->sdo_queue);
if (master->debug_level)
- EC_DBG("Finished SDO request for slave %u.\n",
+ EC_DBG("Finished internal SDO request for slave %u.\n",
fsm->slave->ring_position);
// check for another SDO request
--- a/master/fsm_master.h Mon Dec 14 13:11:36 2009 +0100
+++ b/master/fsm_master.h Mon Dec 14 13:25:50 2009 +0100
@@ -133,7 +133,7 @@
void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);
-void ec_fsm_master_exec(ec_fsm_master_t *);
+int ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);
/*****************************************************************************/
--- a/master/fsm_sii.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/fsm_sii.c Mon Dec 14 13:25:50 2009 +0100
@@ -248,7 +248,6 @@
SII state: READ FETCH.
Fetches the result of an SII-read datagram.
*/
-
void ec_fsm_sii_state_read_fetch(
ec_fsm_sii_t *fsm /**< finite state machine */
)
@@ -302,6 +301,7 @@
}
// issue check/fetch datagram again
+ fsm->datagram->state = EC_DATAGRAM_INIT;
fsm->retries = EC_FSM_RETRIES;
return;
}
@@ -435,6 +435,7 @@
#endif
// issue check datagram again
fsm->retries = EC_FSM_RETRIES;
+ fsm->datagram->state = EC_DATAGRAM_INIT;
return;
}
@@ -453,6 +454,7 @@
// issue check datagram again
fsm->retries = EC_FSM_RETRIES;
+ fsm->datagram->state = EC_DATAGRAM_INIT;
return;
}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.c Mon Dec 14 13:25:50 2009 +0100
@@ -0,0 +1,185 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * EtherCAT slave (SDO) state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
+void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
+
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_init(
+ ec_fsm_slave_t *fsm, /**< Slave state machine. */
+ ec_slave_t *slave, /**< EtherCAT slave. */
+ ec_datagram_t *datagram /**< Datagram object to use. */
+ )
+{
+ fsm->slave = slave;
+ fsm->datagram = datagram;
+ fsm->datagram->data_size = 0;
+ fsm->state = ec_fsm_slave_state_idle;
+
+ // init sub-state-machines
+ ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_clear(
+ ec_fsm_slave_t *fsm /**< Master state machine. */
+ )
+{
+ // clear sub-state machines
+ ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Executes the current state of the state machine.
+ *
+ * If the state machine's datagram is not sent or received yet, the execution
+ * of the state machine is delayed to the next cycle.
+ */
+void ec_fsm_slave_exec(
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ if (fsm->datagram->state == EC_DATAGRAM_SENT
+ || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+ // datagram was not sent or received yet.
+ return;
+ }
+
+ fsm->state(fsm);
+ return;
+}
+
+/******************************************************************************
+ * Slave state machine
+ *****************************************************************************/
+
+/** Slave state: IDLE.
+ *
+ * Check for pending SDO requests and process one.
+ *
+ */
+void ec_fsm_slave_state_idle(
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_master_sdo_request_t *request, *next;
+
+ // search the first matching external request to be processed
+ list_for_each_entry_safe(request, next, &master->slave_sdo_requests, list) {
+ if (request->slave != slave)
+ continue;
+ list_del_init(&request->list); // dequeue
+ request->req.state = EC_INT_REQUEST_BUSY;
+
+ if (slave->current_state == EC_SLAVE_STATE_INIT) {
+ EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
+ slave->ring_position);
+ request->req.state = EC_INT_REQUEST_FAILURE;
+ wake_up(&master->sdo_queue);
+ continue;
+ }
+
+ // Found pending SDO request. Execute it!
+ if (master->debug_level)
+ EC_DBG("Processing SDO request for slave %u...\n",
+ slave->ring_position);
+
+ // Start SDO transfer
+ fsm->sdo_request = &request->req;
+ fsm->state = ec_fsm_slave_state_sdo_request;
+ ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
+ return;
+ }
+}
+
+/*****************************************************************************/
+
+/** Slave state: SDO_REQUEST.
+ */
+void ec_fsm_slave_state_sdo_request(
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_sdo_request_t *request = fsm->sdo_request;
+
+ if (ec_fsm_coe_exec(&fsm->fsm_coe))
+ {
+ ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
+ return;
+ }
+ if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+ EC_DBG("Failed to process SDO request for slave %u.\n",
+ fsm->slave->ring_position);
+ request->state = EC_INT_REQUEST_FAILURE;
+ wake_up(&master->sdo_queue);
+ fsm->sdo_request = NULL;
+ fsm->state = ec_fsm_slave_state_idle;
+ return;
+ }
+
+ // SDO request finished
+ request->state = EC_INT_REQUEST_SUCCESS;
+ wake_up(&master->sdo_queue);
+
+ if (master->debug_level)
+ EC_DBG("Finished SDO request for slave %u.\n",
+ fsm->slave->ring_position);
+
+ fsm->sdo_request = NULL;
+ fsm->datagram->data_size = 0;
+ fsm->state = ec_fsm_slave_state_idle;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.h Mon Dec 14 13:25:50 2009 +0100
@@ -0,0 +1,70 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave request (SDO) state machine.
+*/
+
+/*****************************************************************************/
+#ifndef __EC_FSM_SLAVE_H__
+#define __EC_FSM_SLAVE_H__
+
+#include "globals.h"
+#include "datagram.h"
+#include "sdo_request.h"
+#include "fsm_coe.h"
+
+
+typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
+
+/** Finite state machine of an EtherCAT slave.
+ */
+struct ec_fsm_slave {
+ ec_slave_t *slave; /**< slave the FSM runs on */
+ ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+ void (*state)(ec_fsm_slave_t *); /**< master state function */
+ ec_sdo_request_t *sdo_request; /**< SDO request to process. */
+
+ ec_fsm_coe_t fsm_coe; /**< CoE state machine */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
+void ec_fsm_slave_clear(ec_fsm_slave_t *);
+
+void ec_fsm_slave_exec(ec_fsm_slave_t *);
+int ec_fsm_slave_idle(const ec_fsm_slave_t *);
+
+/*****************************************************************************/
+
+
+#endif // __EC_FSM_SLAVE_H__
--- a/master/globals.h Mon Dec 14 13:11:36 2009 +0100
+++ b/master/globals.h Mon Dec 14 13:25:50 2009 +0100
@@ -48,6 +48,12 @@
/** Datagram timeout in microseconds. */
#define EC_IO_TIMEOUT 500
+/** SDO injection timeout in microseconds. */
+#define EC_SDO_INJECTION_TIMEOUT 10000
+
+/** time to send a byte in nanoseconds. */
+#define EC_BYTE_TRANSMITION_TIME 80LL
+
/** Number of state machine retries on datagram timeout. */
#define EC_FSM_RETRIES 3
--- a/master/ioctl.h Mon Dec 14 13:11:36 2009 +0100
+++ b/master/ioctl.h Mon Dec 14 13:25:50 2009 +0100
@@ -123,6 +123,7 @@
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_MAX_CYCLE_SIZE EC_IOW(0x42, size_t)
/*****************************************************************************/
--- a/master/master.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/master.c Mon Dec 14 13:25:50 2009 +0100
@@ -59,13 +59,14 @@
/** Frame timeout in cycles.
*/
static cycles_t timeout_cycles;
-
+static cycles_t sdo_injection_timeout_cycles;
#else
/** Frame timeout in jiffies.
*/
static unsigned long timeout_jiffies;
-
+static unsigned long sdo_injection_timeout_jiffies;
+
#endif
/*****************************************************************************/
@@ -87,9 +88,11 @@
{
#ifdef EC_HAVE_CYCLES
timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
+ sdo_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);
#else
// one jiffy may always elapse between time measurement
timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
+ sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);
#endif
}
@@ -151,6 +154,9 @@
INIT_LIST_HEAD(&master->ext_datagram_queue);
sema_init(&master->ext_queue_sem, 1);
+ INIT_LIST_HEAD(&master->sdo_datagram_queue);
+ master->max_queue_size = EC_MAX_DATA_SIZE;
+
INIT_LIST_HEAD(&master->domains);
master->debug_level = debug_level;
@@ -684,6 +690,91 @@
master->phase = EC_IDLE;
}
+
+/*****************************************************************************/
+
+/** Injects sdo datagrams that fit into the datagram queue
+ */
+void ec_master_inject_sdo_datagrams(
+ ec_master_t *master /**< EtherCAT master */
+ )
+{
+ ec_datagram_t *datagram, *n;
+ size_t queue_size = 0;
+ list_for_each_entry(datagram, &master->datagram_queue, queue) {
+ queue_size += datagram->data_size;
+ }
+ list_for_each_entry_safe(datagram, n, &master->sdo_datagram_queue, queue) {
+ queue_size += datagram->data_size;
+ if (queue_size <= master->max_queue_size) {
+ list_del_init(&datagram->queue);
+ if (master->debug_level) {
+ EC_DBG("Injecting SDO datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size);
+ }
+#ifdef EC_HAVE_CYCLES
+ datagram->cycles_sent = 0;
+#endif
+ datagram->jiffies_sent = 0;
+ ec_master_queue_datagram(master, datagram);
+ }
+ else {
+ if (datagram->data_size > master->max_queue_size) {
+ list_del_init(&datagram->queue);
+ datagram->state = EC_DATAGRAM_ERROR;
+ EC_ERR("SDO datagram %08x is too large, size=%u, max_queue_size=%u\n",(unsigned int)datagram,datagram->data_size,master->max_queue_size);
+ }
+ else {
+#ifdef EC_HAVE_CYCLES
+ cycles_t cycles_now = get_cycles();
+ if (cycles_now - datagram->cycles_sent
+ > sdo_injection_timeout_cycles) {
+#else
+ if (jiffies - datagram->jiffies_sent
+ > sdo_injection_timeout_jiffies) {
+#endif
+ unsigned int time_us;
+ list_del_init(&datagram->queue);
+ datagram->state = EC_DATAGRAM_ERROR;
+#ifdef EC_HAVE_CYCLES
+ time_us = (unsigned int) ((cycles_now - datagram->cycles_sent) * 1000LL) / cpu_khz;
+#else
+ time_us = (unsigned int) ((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
+#endif
+ EC_ERR("Timeout %u us: injecting SDO datagram %08x size=%u, max_queue_size=%u\n",time_us,(unsigned int)datagram,datagram->data_size,master->max_queue_size);
+ }
+ else {
+ if (master->debug_level) {
+ EC_DBG("Deferred injecting of SDO datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size);
+ }
+ }
+ }
+ }
+ }
+}
+
+/*****************************************************************************/
+
+/** Places a sdo datagram in the sdo datagram queue.
+ */
+void ec_master_queue_sdo_datagram(
+ ec_master_t *master, /**< EtherCAT master */
+ ec_datagram_t *datagram /**< datagram */
+ )
+{
+ if (master->debug_level) {
+ EC_DBG("Requesting SDO datagram %08x size=%u\n",(unsigned int)datagram,datagram->data_size);
+ }
+ datagram->state = EC_DATAGRAM_QUEUED;
+#ifdef EC_HAVE_CYCLES
+ datagram->cycles_sent = get_cycles();
+#endif
+ datagram->jiffies_sent = jiffies;
+
+ down(&master->io_sem);
+ list_add_tail(&datagram->queue, &master->sdo_datagram_queue);
+ up(&master->io_sem);
+}
+
/*****************************************************************************/
/** Places a datagram in the datagram queue.
@@ -695,6 +786,8 @@
{
ec_datagram_t *queued_datagram;
+ if (datagram->state == EC_DATAGRAM_SENT)
+ return;
// check, if the datagram is already queued
list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
if (queued_datagram == datagram) {
@@ -1001,7 +1094,8 @@
static int ec_master_idle_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
-
+ ec_slave_t *slave = NULL;
+ int fsm_exec;
if (master->debug_level)
EC_DBG("Idle thread running.\n");
@@ -1013,22 +1107,27 @@
ecrt_master_receive(master);
up(&master->io_sem);
- if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
- goto schedule;
-
- // execute master state machine
+ fsm_exec = 0;
+ // execute master & slave state machines
if (down_interruptible(&master->master_sem))
break;
- ec_fsm_master_exec(&master->fsm);
+ fsm_exec = ec_fsm_master_exec(&master->fsm);
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+ ec_fsm_slave_exec(&slave->fsm);
+ }
up(&master->master_sem);
// queue and send
down(&master->io_sem);
- ec_master_queue_datagram(master, &master->fsm_datagram);
+ if (fsm_exec) {
+ ec_master_queue_datagram(master, &master->fsm_datagram);
+ }
+ ec_master_inject_sdo_datagrams(master);
ecrt_master_send(master);
up(&master->io_sem);
-
-schedule:
+
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
@@ -1045,35 +1144,38 @@
/*****************************************************************************/
-/** Master kernel thread function for IDLE phase.
+/** Master kernel thread function for OPERATION phase.
*/
static int ec_master_operation_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
-
+ ec_slave_t *slave = NULL;
+ int fsm_exec;
if (master->debug_level)
EC_DBG("Operation thread running.\n");
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
- if (master->injection_seq_rt != master->injection_seq_fsm ||
- master->fsm_datagram.state == EC_DATAGRAM_SENT ||
- master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
- goto schedule;
-
- // output statistics
- ec_master_output_stats(master);
-
- // execute master state machine
- if (down_interruptible(&master->master_sem))
- break;
- ec_fsm_master_exec(&master->fsm);
- up(&master->master_sem);
-
- // inject datagram
- master->injection_seq_fsm++;
-
-schedule:
+ if (master->injection_seq_rt == master->injection_seq_fsm) {
+ // output statistics
+ ec_master_output_stats(master);
+
+ fsm_exec = 0;
+ // execute master & slave state machines
+ if (down_interruptible(&master->master_sem))
+ break;
+ fsm_exec += ec_fsm_master_exec(&master->fsm);
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+ ec_fsm_slave_exec(&slave->fsm);
+ }
+ up(&master->master_sem);
+
+ // inject datagrams (let the rt thread queue them, see ecrt_master_send)
+ if (fsm_exec)
+ master->injection_seq_fsm++;
+ }
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
@@ -1797,10 +1899,11 @@
ec_datagram_t *datagram, *n;
if (master->injection_seq_rt != master->injection_seq_fsm) {
- // inject datagram produced by master FSM
+ // inject datagrams produced by master & slave FSMs
ec_master_queue_datagram(master, &master->fsm_datagram);
master->injection_seq_rt = master->injection_seq_fsm;
}
+ ec_master_inject_sdo_datagrams(master);
if (unlikely(!master->main_device.link_state)) {
// link is down, no datagram can be sent
--- a/master/master.h Mon Dec 14 13:11:36 2009 +0100
+++ b/master/master.h Mon Dec 14 13:25:50 2009 +0100
@@ -114,6 +114,7 @@
unsigned int injection_seq_rt; /**< Datagram injection sequence number
for the realtime side. */
+
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
@@ -153,6 +154,8 @@
struct semaphore ext_queue_sem; /**< Semaphore protecting the \a
ext_datagram_queue. */
+ struct list_head sdo_datagram_queue; /**< SDO Datagram queue. */
+ size_t max_queue_size; /** max. size of datagram queue */
struct list_head domains; /**< List of domains. */
unsigned int debug_level; /**< Master debug level. */
@@ -220,6 +223,8 @@
void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
+void ec_master_queue_sdo_datagram(ec_master_t *, ec_datagram_t *);
+void ec_master_inject_sdo_datagrams(ec_master_t *);
// misc.
void ec_master_attach_slave_configs(ec_master_t *);
--- a/master/module.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/module.c Mon Dec 14 13:25:50 2009 +0100
@@ -318,6 +318,8 @@
/*****************************************************************************/
/** Outputs frame contents for debugging purposes.
+ * If the data block is larger than 256 bytes, only the first 128
+ * and the last 128 bytes will be shown
*/
void ec_print_data(const uint8_t *data, /**< pointer to data */
size_t size /**< number of bytes to output */
@@ -332,6 +334,12 @@
printk("\n");
EC_DBG("");
}
+ if (i+1 == 128 && size > 256)
+ {
+ printk("dropped %d bytes\n",size-128-i);
+ i = size - 128;
+ EC_DBG("");
+ }
}
printk("\n");
}
--- a/master/slave.c Mon Dec 14 13:11:36 2009 +0100
+++ b/master/slave.c Mon Dec 14 13:25:50 2009 +0100
@@ -67,6 +67,7 @@
)
{
unsigned int i;
+ int ret;
slave->master = master;
slave->ring_position = ring_position;
@@ -147,6 +148,20 @@
slave->sdo_dictionary_fetched = 0;
slave->jiffies_preop = 0;
+
+ // init state machine datagram
+ ec_datagram_init(&slave->fsm_datagram);
+ snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);
+ ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);
+ if (ret < 0) {
+ ec_datagram_clear(&slave->fsm_datagram);
+ EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);
+ return;
+ }
+
+ // create state machine object
+ ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);
+
}
/*****************************************************************************/
@@ -191,6 +206,9 @@
if (slave->sii_words)
kfree(slave->sii_words);
+ ec_fsm_slave_clear(&slave->fsm);
+ ec_datagram_clear(&slave->fsm_datagram);
+
}
/*****************************************************************************/
--- a/master/slave.h Mon Dec 14 13:11:36 2009 +0100
+++ b/master/slave.h Mon Dec 14 13:25:50 2009 +0100
@@ -45,6 +45,7 @@
#include "pdo.h"
#include "sync.h"
#include "sdo.h"
+#include "fsm_slave.h"
/*****************************************************************************/
@@ -157,6 +158,9 @@
struct list_head sdo_dictionary; /**< SDO dictionary list */
uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
+
+ ec_fsm_slave_t fsm; /**< Slave state machine. */
+ ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
};
/*****************************************************************************/