From 10b96fe9f9760e16b0e7f992693775df44c82850 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Thu, 19 Jun 2008 10:17:52 +0000
Subject: [PATCH] Use jiffies instead of cycles in CoE state machine.
---
master/fsm_coe.c | 44 +++++++++++++++++++++++++-------------------
master/fsm_coe.h | 2 +-
2 files changed, 26 insertions(+), 20 deletions(-)
diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index d76b90c0..ee1f4617 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -317,7 +317,7 @@ void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -355,8 +355,9 @@ void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
slave->ring_position);
@@ -494,7 +495,7 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
@@ -556,7 +557,7 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -594,8 +595,9 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo description on slave %u.\n",
slave->ring_position);
@@ -784,7 +786,7 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail
fsm->retries = EC_FSM_RETRIES;
@@ -823,8 +825,9 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
slave->ring_position);
@@ -1113,7 +1116,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -1151,8 +1154,9 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo configuration on slave %u.\n",
slave->ring_position);
@@ -1357,7 +1361,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -1395,8 +1399,9 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload on slave %u.\n",
slave->ring_position);
@@ -1649,7 +1654,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
- fsm->cycles_start = datagram->cycles_sent;
+ fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -1687,8 +1692,9 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (!ec_slave_mbox_check(datagram)) {
- if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= 100) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n",
slave->ring_position);
diff --git a/master/fsm_coe.h b/master/fsm_coe.h
index c2f6caba..1e93891f 100644
--- a/master/fsm_coe.h
+++ b/master/fsm_coe.h
@@ -60,7 +60,7 @@ struct ec_fsm_coe {
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
- cycles_t cycles_start; /**< CoE timestamp */
+ unsigned long jiffies_start; /**< CoE timestamp. */
ec_sdo_t *sdo; /**< current Sdo */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< Sdo request */
--
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