diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c
index afd1ab28e3b0af673fbe33876a2fd0b446802405..84a83645abe5b4a2d61ac679e327925b070821c7 100644
--- a/master/fsm_coe_map.c
+++ b/master/fsm_coe_map.c
@@ -179,7 +179,7 @@ void ec_fsm_coe_map_action_next_dir(
ec_pdo_mapping_clear_pdos(&fsm->mapping);
- ec_sdo_request_init(&fsm->request, slave, fsm->sync_sdo_index, 0);
+ ec_sdo_request_init(&fsm->request, fsm->sync_sdo_index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -233,8 +233,8 @@ void ec_fsm_coe_map_action_next_pdo(
)
{
if (fsm->sync_subindex <= fsm->sync_subindices) {
- ec_sdo_request_init(&fsm->request, fsm->slave,
- fsm->sync_sdo_index, fsm->sync_subindex);
+ ec_sdo_request_init(&fsm->request, fsm->sync_sdo_index,
+ fsm->sync_subindex);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -290,7 +290,7 @@ void ec_fsm_coe_map_state_pdo(
list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
- ec_sdo_request_init(&fsm->request, fsm->slave, fsm->pdo->index, 0);
+ ec_sdo_request_init(&fsm->request, fsm->pdo->index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -336,8 +336,7 @@ void ec_fsm_coe_map_action_next_pdo_entry(
)
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
- ec_sdo_request_init(&fsm->request, fsm->slave,
- fsm->pdo->index, fsm->pdo_subindex);
+ ec_sdo_request_init(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 1d1cc2d678e28dcf3c44ade9687293ab0dc69518..4c383d628ff8a3230b4aab15eb240047fb47c10b 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -44,6 +44,7 @@
#ifdef EC_EOE
#include "ethernet.h"
#endif
+
#include "fsm_master.h"
/*****************************************************************************/
@@ -370,45 +371,44 @@ int ec_fsm_master_action_process_sdo(
)
{
ec_master_t *master = fsm->master;
- ec_sdo_request_t *request;
+ ec_master_sdo_request_t *request;
ec_slave_t *slave;
// search the first request to be processed
while (1) {
down(&master->sdo_sem);
- if (list_empty(&master->sdo_requests)) {
+ if (list_empty(&master->slave_sdo_requests)) {
up(&master->sdo_sem);
break;
}
// get first request
- request =
- list_entry(master->sdo_requests.next, ec_sdo_request_t, list);
+ request = list_entry(master->slave_sdo_requests.next,
+ ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
- request->state = EC_REQUEST_IN_PROGRESS;
+ request->req.state = EC_REQUEST_IN_PROGRESS;
up(&master->sdo_sem);
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT ||
slave->online_state == EC_SLAVE_OFFLINE ||
slave->error_flag) {
- EC_ERR("Discarding Sdo request, slave %i not ready.\n",
+ EC_ERR("Discarding Sdo request, slave %u not ready.\n",
slave->ring_position);
- request->state = EC_REQUEST_FAILURE;
+ request->req.state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
continue;
}
- // found pending Sdo request. execute it!
+ // Found pending Sdo request. Execute it!
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %i...\n",
slave->ring_position);
- // start uploading Sdo
+ // Start uploading Sdo
fsm->idle = 0;
- fsm->slave = slave;
fsm->sdo_request = request;
fsm->state = ec_fsm_master_state_sdo_request;
- ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
+ ec_fsm_coe_upload(&fsm->fsm_coe, slave, &request->req);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return 1;
}
@@ -1022,21 +1022,21 @@ void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
{
ec_master_t *master = fsm->master;
- ec_sdo_request_t *request = fsm->sdo_request;
+ ec_master_sdo_request_t *request = fsm->sdo_request;
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 %i.\n",
fsm->slave->ring_position);
- request->state = EC_REQUEST_FAILURE;
+ request->req.state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
// Sdo request finished
- request->state = EC_REQUEST_COMPLETE;
+ request->req.state = EC_REQUEST_COMPLETE;
wake_up(&master->sdo_queue);
if (master->debug_level)
diff --git a/master/fsm_master.h b/master/fsm_master.h
index f7e16bc4817b611bb51c91a8134974d272992940..b844023b9d4a2b23ad46b2679cbf2d95126bf174 100644
--- a/master/fsm_master.h
+++ b/master/fsm_master.h
@@ -65,6 +65,16 @@ typedef struct {
/*****************************************************************************/
+/** Slave/Sdo request record for master's Sdo request list.
+ */
+typedef struct {
+ struct list_head list; /**< List element. */
+ ec_slave_t *slave; /**< Slave. */
+ ec_sdo_request_t req; /**< Sdo request. */
+} ec_master_sdo_request_t;
+
+/*****************************************************************************/
+
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
/** Finite state machine of an EtherCAT master.
@@ -87,7 +97,7 @@ struct ec_fsm_master {
ec_slave_t *slave; /**< current slave */
ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */
off_t eeprom_index; /**< index to EEPROM write request data */
- ec_sdo_request_t *sdo_request; /**< Sdo request to process */
+ ec_master_sdo_request_t *sdo_request; /**< Sdo request to process. */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
diff --git a/master/master.c b/master/master.c
index a71cdc25d898137379dba442f63c4e26d8cc1e07..050079b2115ebdedc6ddaf7e64f7b2524088162f 100644
--- a/master/master.c
+++ b/master/master.c
@@ -175,7 +175,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
init_MUTEX(&master->eeprom_sem);
init_waitqueue_head(&master->eeprom_queue);
- INIT_LIST_HEAD(&master->sdo_requests);
+ INIT_LIST_HEAD(&master->slave_sdo_requests);
init_MUTEX(&master->sdo_sem);
init_waitqueue_head(&master->sdo_queue);
diff --git a/master/master.h b/master/master.h
index 94db916164b0d3ac027f70d511950043c2b0177e..c15758df2bbc80c9a3d128870f54e09882a8b817 100644
--- a/master/master.h
+++ b/master/master.h
@@ -59,8 +59,7 @@ typedef enum {
EC_MASTER_MODE_ORPHANED,
EC_MASTER_MODE_IDLE,
EC_MASTER_MODE_OPERATION
-}
-ec_master_mode_t;
+} ec_master_mode_t;
/*****************************************************************************/
@@ -72,8 +71,7 @@ typedef struct {
unsigned int unmatched; /**< unmatched datagrams (received, but not
queued any longer) */
unsigned long output_jiffies; /**< time of last output */
-}
-ec_stats_t;
+} ec_stats_t;
/*****************************************************************************/
@@ -81,8 +79,7 @@ ec_stats_t;
*
* Manages slaves, domains and IO.
*/
-struct ec_master
-{
+struct ec_master {
struct kobject kobj; /**< kobject */
unsigned int index; /**< master index */
unsigned int reserved; /**< non-zero, if the master is reserved for RT */
@@ -161,7 +158,7 @@ struct ec_master
wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM
write requests from user space */
- struct list_head sdo_requests; /**< Sdo access requests */
+ struct list_head slave_sdo_requests; /**< Sdo access requests. */
struct semaphore sdo_sem; /**< semaphore protecting the list of
Sdo access requests */
wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests
diff --git a/master/sdo_entry.c b/master/sdo_entry.c
index d0d84aea8b5bb2c9ac4c267d35284ae5028863c8..340f491e157dbc23891de5be27983695f3cc7452 100644
--- a/master/sdo_entry.c
+++ b/master/sdo_entry.c
@@ -264,23 +264,23 @@ ssize_t ec_sdo_entry_read_value(
{
ec_master_t *master = entry->sdo->slave->master;
off_t off = 0;
- ec_sdo_request_t request;
+ ec_master_sdo_request_t request;
- ec_sdo_request_init(&request, entry->sdo->slave,
- entry->sdo->index, entry->subindex);
+ request.slave = entry->sdo->slave;
+ ec_sdo_request_init(&request.req, entry->sdo->index, entry->subindex);
// schedule request.
down(&master->sdo_sem);
- list_add_tail(&request.list, &master->sdo_requests);
+ list_add_tail(&request.list, &master->slave_sdo_requests);
up(&master->sdo_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
- request.state != EC_REQUEST_QUEUED)) {
+ request.req.state != EC_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->sdo_sem);
- if (request.state == EC_REQUEST_QUEUED) {
- list_del(&request.list);
+ if (request.req.state == EC_REQUEST_QUEUED) {
+ list_del(&request.req.list);
up(&master->sdo_sem);
return -EINTR;
}
@@ -289,14 +289,14 @@ ssize_t ec_sdo_entry_read_value(
}
// wait until master FSM has finished processing
- wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);
+ wait_event(master->sdo_queue, request.req.state != EC_REQUEST_IN_PROGRESS);
- if (request.state != EC_REQUEST_COMPLETE)
+ if (request.req.state != EC_REQUEST_COMPLETE)
return -EIO;
- off += ec_sdo_entry_format_data(entry, &request, buffer);
+ off += ec_sdo_entry_format_data(entry, &request.req, buffer);
- ec_sdo_request_clear(&request);
+ ec_sdo_request_clear(&request.req);
return off;
}
diff --git a/master/sdo_request.c b/master/sdo_request.c
index 7ba3ce4177cf4da1afe2a05e303b0fbf025edc8b..bf220dd04d7a80186592a706cdcb086041bfda92 100644
--- a/master/sdo_request.c
+++ b/master/sdo_request.c
@@ -48,12 +48,10 @@
*/
void ec_sdo_request_init(
ec_sdo_request_t *req, /**< Sdo request. */
- ec_slave_t *slave, /**< Slave owning the Sdo. */
uint16_t index, /**< Sdo index. */
uint8_t subindex /**< Sdo subindex. */
)
{
- req->slave = slave;
req->index = index;
req->subindex = subindex;
req->data = NULL;
diff --git a/master/sdo_request.h b/master/sdo_request.h
index 0e37fe70dfd15d557ced9354dd2089a718f7a745..f0b773c347ebb718e2574c8205fdb229ba90f410 100644
--- a/master/sdo_request.h
+++ b/master/sdo_request.h
@@ -51,7 +51,6 @@
*/
typedef struct {
struct list_head list; /**< List item. */
- ec_slave_t *slave; /**< Slave. */
uint16_t index; /**< Sdo index. */
uint8_t subindex; /**< Sdo subindex. */
uint8_t *data; /**< Pointer to Sdo data. */
@@ -61,7 +60,7 @@ typedef struct {
/*****************************************************************************/
-void ec_sdo_request_init(ec_sdo_request_t *, ec_slave_t *, uint16_t, uint8_t);
+void ec_sdo_request_init(ec_sdo_request_t *, uint16_t, uint8_t);
void ec_sdo_request_clear(ec_sdo_request_t *);
/*****************************************************************************/