SDO uploading via Sysfs without master FSM calling wake_up().
--- a/master/canopen.c Tue Oct 24 12:06:59 2006 +0000
+++ b/master/canopen.c Tue Oct 24 15:14:25 2006 +0000
@@ -295,18 +295,31 @@
off_t off = 0;
ec_sdo_request_t request;
+ if (down_interruptible(&master->sdo_sem)) {
+ // interrupted by signal
+ return -ERESTARTSYS;
+ }
+
ec_sdo_request_init_read(&request, sdo, entry);
- list_add_tail(&request.queue, &master->sdo_requests);
- if (wait_event_interruptible(master->sdo_wait_queue,
- request.return_code)) {
- // interrupted by signal
- list_del_init(&request.queue);
- }
+
+ // this is necessary, because the completion object
+ // is completed by the ec_master_flush_sdo_requests() function.
+ INIT_COMPLETION(master->sdo_complete);
+
+ master->sdo_request = &request;
+ master->sdo_seq_user++;
+ master->sdo_timer.expires = jiffies + 10;
+ add_timer(&master->sdo_timer);
+
+ wait_for_completion(&master->sdo_complete);
+
+ master->sdo_request = NULL;
+ up(&master->sdo_sem);
if (request.return_code == 1 && request.data) {
off += ec_sdo_entry_format_data(entry, &request, buffer);
}
- else if (request.return_code < 0) {
+ else {
off = -EINVAL;
}
--- a/master/fsm.c Tue Oct 24 12:06:59 2006 +0000
+++ b/master/fsm.c Tue Oct 24 15:14:25 2006 +0000
@@ -523,7 +523,6 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave;
char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
- ec_sdo_request_t *request, *next_request;
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
@@ -558,29 +557,28 @@
// Check, if EoE processing has to be started
ec_master_eoe_start(master);
- // check, if there are pending SDO requests
- list_for_each_entry_safe(request, next_request,
- &master->sdo_requests, queue) {
- // TODO: critical section!
- list_del_init(&request->queue);
-
- slave = request->sdo->slave;
-
+ // Check for a pending SDO request
+ if (master->sdo_seq_master != master->sdo_seq_user) {
+ if (master->debug_level)
+ EC_DBG("Processing SDO request...\n");
+ slave = master->sdo_request->sdo->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT
|| !slave->online
|| slave->error_flag) {
- request->return_code = -1;
- wake_up_interruptible(&master->sdo_wait_queue);
- continue;
- }
-
- // start uploading SDO
- fsm->slave = slave;
- fsm->master_state = ec_fsm_master_sdo_request;
- fsm->sdo_request = request;
- ec_fsm_coe_upload(&fsm->fsm_coe, slave, request);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- return;
+ EC_ERR("Failed to process SDO request, slave %i not ready.\n",
+ slave->ring_position);
+ master->sdo_request->return_code = -1;
+ master->sdo_seq_master++;
+ }
+ else {
+ // start uploading SDO
+ fsm->slave = slave;
+ fsm->master_state = ec_fsm_master_sdo_request;
+ fsm->sdo_request = master->sdo_request;
+ ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ return;
+ }
}
// check, if slaves have an SDO dictionary to read out.
@@ -1034,7 +1032,7 @@
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
request->return_code = -1;
- wake_up_interruptible(&master->sdo_wait_queue);
+ master->sdo_seq_master++;
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
@@ -1043,7 +1041,7 @@
// SDO dictionary fetching finished
request->return_code = 1;
- wake_up_interruptible(&master->sdo_wait_queue);
+ master->sdo_seq_master++;
// restart master state machine.
fsm->master_state = ec_fsm_master_start;
--- a/master/master.c Tue Oct 24 12:06:59 2006 +0000
+++ b/master/master.c Tue Oct 24 15:14:25 2006 +0000
@@ -58,6 +58,7 @@
void ec_master_sync_io(ec_master_t *);
void ec_master_idle_run(void *);
void ec_master_eoe_run(unsigned long);
+void ec_master_check_sdo(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
const char *, size_t);
@@ -130,8 +131,11 @@
master->idle_cycle_time_pos = 0;
master->eoe_cycle_time_pos = 0;
master->debug_level = 0;
- INIT_LIST_HEAD(&master->sdo_requests);
- init_waitqueue_head(&master->sdo_wait_queue);
+ init_MUTEX(&master->sdo_sem);
+ init_timer(&master->sdo_timer);
+ master->sdo_timer.function = ec_master_check_sdo;
+ master->sdo_timer.data = (unsigned long) master;
+ init_completion(&master->sdo_complete);
// create workqueue
if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
@@ -301,14 +305,11 @@
void ec_master_flush_sdo_requests(ec_master_t *master)
{
- ec_sdo_request_t *req, *next_req;
-
- list_for_each_entry_safe(req, next_req, &master->sdo_requests, queue) {
- list_del_init(&req->queue);
- req->return_code = -1;
- }
-
- wake_up_interruptible(&master->sdo_wait_queue);
+ del_timer_sync(&master->sdo_timer);
+ complete(&master->sdo_complete);
+ master->sdo_request = NULL;
+ master->sdo_seq_user = 0;
+ master->sdo_seq_master = 0;
}
/*****************************************************************************/
@@ -1004,6 +1005,7 @@
}
/*****************************************************************************/
+
/**
Does the Ethernet-over-EtherCAT processing.
*/
@@ -1067,6 +1069,25 @@
/*****************************************************************************/
/**
+*/
+
+void ec_master_check_sdo(unsigned long data /**< master pointer */)
+{
+ ec_master_t *master = (ec_master_t *) data;
+
+ if (master->sdo_seq_master != master->sdo_seq_user) {
+ master->sdo_timer.expires = jiffies + 10;
+ add_timer(&master->sdo_timer);
+ return;
+ }
+
+ // master has processed the request
+ complete(&master->sdo_complete);
+}
+
+/*****************************************************************************/
+
+/**
Calculates Advanced Position Adresses.
*/
--- a/master/master.h Tue Oct 24 12:06:59 2006 +0000
+++ b/master/master.h Tue Oct 24 15:14:25 2006 +0000
@@ -44,7 +44,6 @@
#include <linux/list.h>
#include <linux/sysfs.h>
#include <linux/timer.h>
-#include <linux/wait.h>
#include <asm/atomic.h>
#include <asm/semaphore.h>
@@ -139,8 +138,12 @@
uint8_t eeprom_write_enable; /**< allow write operations to EEPROMs */
- struct list_head sdo_requests; /**< list of SDO read/write requests */
- wait_queue_head_t sdo_wait_queue; /**< wait queue for SDO access */
+ ec_sdo_request_t *sdo_request; /**< pointer to the current SDO request */
+ unsigned int sdo_seq_user; /**< sequence number for user space */
+ unsigned int sdo_seq_master; /**< sequence number for master */
+ struct semaphore sdo_sem; /**< SDO semaphore */
+ struct timer_list sdo_timer; /**< timer for polling sdo processing */
+ struct completion sdo_complete; /**< SDO request completion object */
};
/*****************************************************************************/