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Removed unnecessary ec_master_soe_request_t type.

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This commit is contained in:
Florian Pose
2012-12-04 14:49:23 +01:00
parent 1b945a670c
commit 72b60d1c07
5 changed files with 107 additions and 108 deletions
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10
master/fsm_master.h
View File

@@ -61,16 +61,6 @@ typedef struct {
/*****************************************************************************/
/** SoE request.
*/
typedef struct {
struct list_head list; /**< List head. */
ec_slave_t *slave; /**< EtherCAT slave. */
ec_soe_request_t req; /**< SoE request. */
} ec_master_soe_request_t;
/*****************************************************************************/
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
/** Finite state machine of an EtherCAT master.

70
master/fsm_slave.c
View File

@@ -457,43 +457,43 @@ int ec_fsm_slave_action_process_soe(
)
{
ec_slave_t *slave = fsm->slave;
ec_master_soe_request_t *req, *next;
ec_soe_request_t *req;
// search the first request to be processed
list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
list_del_init(&req->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_SLAVE_WARN(slave, "Aborting SoE request,"
" slave has error flag set.\n");
req->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->soe_queue);
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
req->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->soe_queue);
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
req->req.state = EC_INT_REQUEST_BUSY;
// Found pending request. Execute it!
EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
// Start SoE transfer
fsm->soe_request = &req->req;
fsm->state = ec_fsm_slave_state_soe_request;
ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return 1;
if (list_empty(&slave->soe_requests)) {
return 0;
}
return 0;
// take the first request to be processed
req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);
list_del_init(&req->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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;
}
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);
return 0;
}
req->state = EC_INT_REQUEST_BUSY;
// Found pending request. Execute it!
EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
// Start SoE transfer
fsm->soe_request = req;
fsm->state = ec_fsm_slave_state_soe_request;
ec_fsm_soe_transfer(&fsm->fsm_soe, slave, req);
ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return 1;
}
/*****************************************************************************/

127
master/master.c
View File

@@ -2919,73 +2919,76 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
ec_master_soe_request_t request;
int retval;
ec_soe_request_t request;
ec_slave_t *slave;
int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
INIT_LIST_HEAD(&request.list);
ec_soe_request_init(&request.req);
ec_soe_request_set_drive_no(&request.req, drive_no);
ec_soe_request_set_idn(&request.req, idn);
ec_soe_request_init(&request);
ec_soe_request_set_drive_no(&request, drive_no);
ec_soe_request_set_idn(&request, idn);
if (ec_soe_request_alloc(&request.req, data_size)) {
ec_soe_request_clear(&request.req);
return -ENOMEM;
ret = ec_soe_request_alloc(&request, data_size);
if (ret) {
ec_soe_request_clear(&request);
return ret;
}
memcpy(request.req.data, data, data_size);
request.req.data_size = data_size;
ec_soe_request_write(&request.req);
memcpy(request.data, data, data_size);
request.data_size = data_size;
ec_soe_request_write(&request);
if (down_interruptible(&master->master_sem))
if (down_interruptible(&master->master_sem)) {
ec_soe_request_clear(&request);
return -EINTR;
}
if (!(request.slave = ec_master_find_slave(
master, 0, slave_position))) {
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
slave_position);
ec_soe_request_clear(&request.req);
ec_soe_request_clear(&request);
return -EINVAL;
}
EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
EC_SLAVE_DBG(slave, 1, "Scheduling SoE write request.\n");
// schedule SoE write request.
list_add_tail(&request.list, &request.slave->soe_requests);
list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
if (wait_event_interruptible(slave->soe_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
ec_soe_request_clear(&request);
return -EINTR;
}
up(&master->master_sem);
}
// FIXME slave may become invalid
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.req.error_code;
*error_code = request.error_code;
}
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
ec_soe_request_clear(&request.req);
ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
ec_soe_request_clear(&request);
return retval;
return ret;
}
/*****************************************************************************/
@@ -2994,80 +2997,86 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
ec_master_soe_request_t request;
ec_soe_request_t request;
ec_slave_t *slave;
int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
INIT_LIST_HEAD(&request.list);
ec_soe_request_init(&request.req);
ec_soe_request_set_drive_no(&request.req, drive_no);
ec_soe_request_set_idn(&request.req, idn);
ec_soe_request_read(&request.req);
ec_soe_request_init(&request);
ec_soe_request_set_drive_no(&request, drive_no);
ec_soe_request_set_idn(&request, idn);
ec_soe_request_read(&request);
if (down_interruptible(&master->master_sem))
if (down_interruptible(&master->master_sem)) {
ec_soe_request_clear(&request);
return -EINTR;
}
if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
ec_soe_request_clear(&request.req);
ec_soe_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
// schedule request.
list_add_tail(&request.list, &request.slave->soe_requests);
list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
EC_SLAVE_DBG(slave, 1, "Scheduled SoE read request.\n");
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
if (wait_event_interruptible(slave->soe_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
ec_soe_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// FIXME slave may become invalid
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
wait_event(slave->soe_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.req.error_code;
*error_code = request.error_code;
}
EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
request.req.data_size);
EC_SLAVE_DBG(slave, 1, "Read %zd bytes via SoE.\n", request.data_size);
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
if (request.state != EC_INT_REQUEST_SUCCESS) {
if (result_size) {
*result_size = 0;
}
ec_soe_request_clear(&request.req);
return -EIO;
} else {
if (request.req.data_size > target_size) {
ret = -EIO;
} else { // success
if (request.data_size > target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
ec_soe_request_clear(&request.req);
return -EOVERFLOW;
ret = -EOVERFLOW;
}
if (result_size) {
*result_size = request.req.data_size;
else { // data fits in buffer
if (result_size) {
*result_size = request.data_size;
}
memcpy(target, request.data, request.data_size);
ret = 0;
}
memcpy(target, request.req.data, request.req.data_size);
return 0;
}
ec_soe_request_clear(&request);
return ret;
}
/*****************************************************************************/

7
master/slave.c
View File

@@ -225,13 +225,12 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
}
while (!list_empty(&slave->soe_requests)) {
ec_master_soe_request_t *request =
list_entry(slave->soe_requests.next,
ec_master_soe_request_t, list);
ec_soe_request_t *request =
list_entry(slave->soe_requests.next, ec_soe_request_t, list);
list_del_init(&request->list); // dequeue
EC_SLAVE_WARN(slave, "Discarding SoE request,"
" slave about to be deleted.\n");
request->req.state = EC_INT_REQUEST_FAILURE;
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->soe_queue);
}

1
master/soe_request.c
View File

@@ -57,6 +57,7 @@ void ec_soe_request_init(
ec_soe_request_t *req /**< SoE request. */
)
{
INIT_LIST_HEAD(&req->list);
req->drive_no = 0x00;
req->idn = 0x0000;
req->al_state = EC_AL_STATE_INIT;