From a55ad1e9e2bb15d803cf3232b740bcba99be3e09 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 15 Aug 2006 08:48:00 +0000
Subject: [PATCH] Improved datagram reception in sync_io and frame dequeuing.
---
master/datagram.h | 8 +++---
master/master.c | 64 ++++++++++++++++-------------------------------
2 files changed, 25 insertions(+), 47 deletions(-)
diff --git a/master/datagram.h b/master/datagram.h
index 011d5ec9..b0de0a89 100644
--- a/master/datagram.h
+++ b/master/datagram.h
@@ -74,10 +74,10 @@ typedef enum
{
EC_DATAGRAM_INIT, /**< new datagram */
EC_DATAGRAM_QUEUED, /**< datagram queued by master */
- EC_DATAGRAM_SENT, /**< datagram has been sent */
- EC_DATAGRAM_RECEIVED, /**< datagram has been received */
- EC_DATAGRAM_TIMED_OUT, /**< datagram timed out */
- EC_DATAGRAM_ERROR /**< error while sending/receiving */
+ EC_DATAGRAM_SENT, /**< datagram has been sent and still in the queue */
+ EC_DATAGRAM_RECEIVED, /**< datagram has been received and dequeued */
+ EC_DATAGRAM_TIMED_OUT, /**< datagram timed out and was dequeued */
+ EC_DATAGRAM_ERROR /**< error while sending/receiving, datagram dequeued */
}
ec_datagram_state_t;
diff --git a/master/master.c b/master/master.c
index 6e4832d2..aae21d65 100644
--- a/master/master.c
+++ b/master/master.c
@@ -227,8 +227,8 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
// empty datagram queue
list_for_each_entry_safe(datagram, next_c,
&master->datagram_queue, queue) {
- list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_ERROR;
+ list_del_init(&datagram->queue);
}
// clear domains
@@ -422,6 +422,10 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
unsigned int cmd_follows, matched;
const uint8_t *cur_data;
ec_datagram_t *datagram;
+ cycles_t cycles_received, cycles_timeout;
+
+ cycles_received = get_cycles();
+ cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
master->stats.corrupted++;
@@ -477,7 +481,7 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
continue;
}
- // copy received data in the datagram memory
+ // copy received data into the datagram memory
memcpy(datagram->data, cur_data, data_size);
cur_data += data_size;
@@ -488,6 +492,12 @@ void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
// dequeue the received datagram
datagram->state = EC_DATAGRAM_RECEIVED;
list_del_init(&datagram->queue);
+
+ // was the datagram reception delayed?
+ if (cycles_received - datagram->cycles_sent > cycles_timeout) {
+ master->stats.delayed++;
+ ec_master_output_stats(master);
+ }
}
}
@@ -1237,50 +1247,23 @@ void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
- ec_datagram_t *datagram, *n;
- unsigned int datagrams_sent;
- cycles_t cycles_start, cycles_end, cycles_timeout;
+ ec_datagram_t *datagram;
+ unsigned int datagrams_waiting;
// send datagrams
ecrt_master_send(master);
- cycles_start = get_cycles(); // measure io time
- cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
-
while (1) { // active waiting
- ec_device_call_isr(master->device);
-
- cycles_end = get_cycles(); // take current time
- if (cycles_end - cycles_start >= cycles_timeout) break; // timeout!
+ ecrt_master_receive(master); // receive and dequeue datagrams
- datagrams_sent = 0;
- list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
- if (datagram->state == EC_DATAGRAM_RECEIVED)
- list_del_init(&datagram->queue);
- else if (datagram->state == EC_DATAGRAM_SENT)
- datagrams_sent++;
+ // count number of datagrams still waiting for response
+ datagrams_waiting = 0;
+ list_for_each_entry(datagram, &master->datagram_queue, queue) {
+ datagrams_waiting++;
}
- if (!datagrams_sent) break;
- }
-
- // timeout; dequeue all datagrams
- list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
- switch (datagram->state) {
- case EC_DATAGRAM_SENT:
- case EC_DATAGRAM_QUEUED:
- datagram->state = EC_DATAGRAM_TIMED_OUT;
- master->stats.timeouts++;
- ec_master_output_stats(master);
- break;
- case EC_DATAGRAM_RECEIVED:
- master->stats.delayed++;
- ec_master_output_stats(master);
- break;
- default:
- break;
- }
- list_del_init(&datagram->queue);
+ // if there are no more datagrams waiting, abort loop.
+ if (!datagrams_waiting) break;
}
}
@@ -1328,11 +1311,6 @@ void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
cycles_received = get_cycles();
cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
- // dequeue all received datagrams
- list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue)
- if (datagram->state == EC_DATAGRAM_RECEIVED)
- list_del_init(&datagram->queue);
-
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
switch (datagram->state) {
--
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