From a815ec3878ad069c669383ea3d82b73ecb6c3475 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 10 Apr 2006 10:53:12 +0000
Subject: [PATCH] Sending of multiple frames
---
master/master.c | 120 +++++++++++++++++++++++++++---------------------
todo.txt | 2 +
2 files changed, 69 insertions(+), 53 deletions(-)
diff --git a/master/master.c b/master/master.c
index a54446a5..b682c96b 100644
--- a/master/master.c
+++ b/master/master.c
@@ -169,84 +169,98 @@ void ec_master_send_commands(ec_master_t *master /**< EtherCAT-Master */)
uint8_t *frame_data, *cur_data;
void *follows_word;
cycles_t start = 0, end;
+ unsigned int frame_count, more_commands_waiting;
+
+ frame_count = 0;
if (unlikely(master->debug_level > 0)) {
- EC_DBG("ec_master_send\n");
+ EC_DBG("ec_master_send_commands\n");
start = get_cycles();
}
- // Zeiger auf Socket-Buffer holen
- frame_data = ec_device_tx_data(master->device);
- cur_data = frame_data + EC_FRAME_HEADER_SIZE;
- follows_word = NULL;
+ do {
+ // Zeiger auf Socket-Buffer holen
+ frame_data = ec_device_tx_data(master->device);
+ cur_data = frame_data + EC_FRAME_HEADER_SIZE;
+ follows_word = NULL;
+ more_commands_waiting = 0;
- // Aktuellen Frame mit Kommandos füllen
- list_for_each_entry(command, &master->command_queue, queue) {
- if (command->state != EC_CMD_QUEUED) continue;
+ // Aktuellen Frame mit Kommandos füllen
+ list_for_each_entry(command, &master->command_queue, queue) {
+ if (command->state != EC_CMD_QUEUED) continue;
- // Passt das aktuelle Kommando noch in den aktuellen Rahmen?
- command_size = EC_COMMAND_HEADER_SIZE + command->data_size
- + EC_COMMAND_FOOTER_SIZE;
- if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) break;
+ // Passt das aktuelle Kommando noch in den aktuellen Rahmen?
+ command_size = EC_COMMAND_HEADER_SIZE + command->data_size
+ + EC_COMMAND_FOOTER_SIZE;
+ if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {
+ more_commands_waiting = 1;
+ break;
+ }
- command->state = EC_CMD_SENT;
- command->index = master->command_index++;
+ command->state = EC_CMD_SENT;
+ command->index = master->command_index++;
- if (unlikely(master->debug_level > 0))
- EC_DBG("adding command 0x%02X\n", command->index);
-
- // Command-Following-Flag im letzten Kommando setzen
- if (follows_word)
- EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
-
- // EtherCAT command header
- EC_WRITE_U8 (cur_data, command->type);
- EC_WRITE_U8 (cur_data + 1, command->index);
- EC_WRITE_U32(cur_data + 2, command->address.logical);
- EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
- EC_WRITE_U16(cur_data + 8, 0x0000);
- follows_word = cur_data + 6;
- cur_data += EC_COMMAND_HEADER_SIZE;
+ if (unlikely(master->debug_level > 0))
+ EC_DBG("adding command 0x%02X\n", command->index);
- // EtherCAT command data
- memcpy(cur_data, command->data, command->data_size);
- cur_data += command->data_size;
+ // Command-Following-Flag im letzten Kommando setzen
+ if (follows_word)
+ EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
- // EtherCAT command footer
- EC_WRITE_U16(cur_data, 0x0000); // Working counter
- cur_data += EC_COMMAND_FOOTER_SIZE;
- }
+ // EtherCAT command header
+ EC_WRITE_U8 (cur_data, command->type);
+ EC_WRITE_U8 (cur_data + 1, command->index);
+ EC_WRITE_U32(cur_data + 2, command->address.logical);
+ EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
+ EC_WRITE_U16(cur_data + 8, 0x0000);
+ follows_word = cur_data + 6;
+ cur_data += EC_COMMAND_HEADER_SIZE;
- if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
- if (unlikely(master->debug_level > 0)) EC_DBG("nothing to send.\n");
- return;
- }
+ // EtherCAT command data
+ memcpy(cur_data, command->data, command->data_size);
+ cur_data += command->data_size;
+
+ // EtherCAT command footer
+ EC_WRITE_U16(cur_data, 0x0000); // Working counter
+ cur_data += EC_COMMAND_FOOTER_SIZE;
+ }
+
+ if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
+ if (unlikely(master->debug_level > 0))
+ EC_DBG("nothing to send.\n");
+ break;
+ }
- // EtherCAT frame header
- EC_WRITE_U16(frame_data, ((cur_data - frame_data
- - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
+ // EtherCAT frame header
+ EC_WRITE_U16(frame_data, ((cur_data - frame_data
+ - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
- // Rahmen auffüllen
- while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
- EC_WRITE_U8(cur_data++, 0x00);
+ // Rahmen auffüllen
+ while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
+ EC_WRITE_U8(cur_data++, 0x00);
- if (unlikely(master->debug_level > 0))
- EC_DBG("Frame size: %i\n", cur_data - frame_data);
+ if (unlikely(master->debug_level > 0))
+ EC_DBG("frame size: %i\n", cur_data - frame_data);
- // Send frame
- ec_device_send(master->device, cur_data - frame_data);
+ // Send frame
+ ec_device_send(master->device, cur_data - frame_data);
+ frame_count++;
+ }
+ while (more_commands_waiting);
if (unlikely(master->debug_level > 0)) {
end = get_cycles();
- EC_DBG("ec_master_send finished in %ius.\n",
- (u32) (end - start) * 1000 / cpu_khz);
+ EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
+ frame_count, (u32) (end - start) * 1000 / cpu_khz);
}
}
/*****************************************************************************/
/**
- Wertet einen empfangenen Rahmen aus.
+ Processes a received frame.
+
+ This function is called by the network driver for every received frame.
\return 0 bei Erfolg, sonst < 0
*/
diff --git a/todo.txt b/todo.txt
index 6201cf42..64810fe4 100644
--- a/todo.txt
+++ b/todo.txt
@@ -3,6 +3,8 @@ TODO-Liste EtherCAT-Treiber
$Id$
+- Addressierung von Alias-Slaves
+- Proc-Interface
- Verteilen von empfangenen Mailbox-Daten?
- Ethernet over EtherCAT (EoE)
- Anzahl Frames, die die Karte Puffern kann
--
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