From f52e4c1f6af5a55ac204aca6a2ac4888ecdbbcc1 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 25 Apr 2006 13:43:13 +0000
Subject: [PATCH] Prepared EoE processing with workqueue.
---
include/ecrt.h | 2 ++
master/master.c | 89 ++++++++++++++++++++++++++++++++++++++-----------
master/master.h | 3 +-
mini/mini.c | 23 ++++++++++++-
rt/msr_rt.c | 7 ++++
5 files changed, 103 insertions(+), 21 deletions(-)
diff --git a/include/ecrt.h b/include/ecrt.h
index e69b0140..f4c20f51 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -105,6 +105,8 @@ void ecrt_master_prepare_async_io(ec_master_t *master);
void ecrt_master_run(ec_master_t *master);
+int ecrt_master_start_eoe(ec_master_t *master);
+
void ecrt_master_debug(ec_master_t *master, int level);
void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);
diff --git a/master/master.c b/master/master.c
index 56db490d..467669c1 100644
--- a/master/master.c
+++ b/master/master.c
@@ -46,6 +46,7 @@
/*****************************************************************************/
void ec_master_freerun(unsigned long);
+void ec_master_run_eoe(void *);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
@@ -112,6 +113,9 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->freerun_timer.function = ec_master_freerun;
master->freerun_timer.data = (unsigned long) master;
+ master->eoe_wq = NULL;
+ INIT_WORK(&master->eoe_work, ec_master_run_eoe, master);
+
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
@@ -145,6 +149,8 @@ void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
ec_command_clear(&master->simple_command);
ec_command_clear(&master->watch_command);
+ if (master->eoe_wq) destroy_workqueue(master->eoe_wq);
+
EC_INFO("Master %i cleared.\n", master->index);
}
@@ -163,6 +169,11 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
ec_domain_t *domain, *next_d;
ec_eoe_t *eoe, *next_eoe;
+ // stop EoE processing
+ if (master->eoe_wq && !cancel_delayed_work(&master->eoe_work)) {
+ flush_workqueue(master->eoe_wq);
+ }
+
ec_master_freerun_stop(master);
// remove all slaves
@@ -485,7 +496,6 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
ec_slave_ident_t *ident;
unsigned int i;
ec_command_t *command;
- ec_eoe_t *eoe;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
@@ -570,20 +580,6 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
slave->coupler_index = current_coupler_index;
slave->coupler_subindex = coupler_subindex;
coupler_subindex++;
-
- // does the slave support EoE?
- if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
- if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate EoE-Object.\n");
- goto out_free;
- }
-
- if (ec_eoe_init(eoe, slave)) {
- kfree(eoe);
- goto out_free;
- }
- list_add_tail(&eoe->list, &master->eoe_slaves);
- }
}
return 0;
@@ -848,13 +844,19 @@ void ec_master_process_watch_command(ec_master_t *master
Does the Ethernet-over-EtherCAT processing.
*/
-void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
+void ec_master_run_eoe(void *data /**< work data (= master pointer) */)
{
+ ec_master_t *master = (ec_master_t *) data;
+
+#if 0
ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_run(eoe);
}
+#endif
+
+ queue_delayed_work(master->eoe_wq, &master->eoe_work, HZ);
}
/******************************************************************************
@@ -1298,9 +1300,6 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
// watchdog command
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
-
- // Ethernet-over-EtherCAT
- ec_master_run_eoe(master);
}
/*****************************************************************************/
@@ -1431,6 +1430,56 @@ void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
/*****************************************************************************/
+/**
+ Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+ ec_slave_t *slave;
+
+ if (!master->request_cb || !master->release_cb) {
+ EC_ERR("EoE requires master callbacks to be set!\n");
+ return -1;
+ }
+
+ list_for_each_entry(slave, &master->slaves, list) {
+ // does the slave support EoE?
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
+
+ if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate EoE-Object.\n");
+ return -1;
+ }
+ if (ec_eoe_init(eoe, slave)) {
+ kfree(eoe);
+ return -1;
+ }
+ list_add_tail(&eoe->list, &master->eoe_slaves);
+ }
+
+ if (list_empty(&master->eoe_slaves)) {
+ EC_WARN("start_eoe: no EoE-capable slaves present.\n");
+ return 0;
+ }
+
+ // create the EoE workqueue, if necessary
+ if (!master->eoe_wq) {
+ if (!(master->eoe_wq = create_singlethread_workqueue("eoework"))) {
+ EC_ERR("Failed to create EoE workqueue!\n");
+ return -1;
+ }
+ }
+
+ // start EoE processing
+ queue_work(master->eoe_wq, &master->eoe_work);
+ return 0;
+}
+
+/*****************************************************************************/
+
/**
Sets the debug level of the master.
The following levels are valid:
@@ -1495,6 +1544,8 @@ EXPORT_SYMBOL(ecrt_master_sync_io);
EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_run);
+EXPORT_SYMBOL(ecrt_master_callbacks);
+EXPORT_SYMBOL(ecrt_master_start_eoe);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
EXPORT_SYMBOL(ecrt_master_get_slave);
diff --git a/master/master.h b/master/master.h
index e036d3b5..f9f4532a 100644
--- a/master/master.h
+++ b/master/master.h
@@ -101,6 +101,8 @@ struct ec_master
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
void *cb_data; /**< data parameter of locking callbacks */
+ struct workqueue_struct *eoe_wq; /**< work queue for EoE processing */
+ struct work_struct eoe_work; /**< EoE work object */
};
/*****************************************************************************/
@@ -124,7 +126,6 @@ int ec_master_bus_scan(ec_master_t *);
// misc.
void ec_master_output_stats(ec_master_t *);
-void ec_master_run_eoe(ec_master_t *);
/*****************************************************************************/
diff --git a/mini/mini.c b/mini/mini.c
index 7ccf06a8..67cc2da5 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -99,6 +99,19 @@ void run(unsigned long data)
/*****************************************************************************/
+int request_lock(void *data)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+}
+
+/*****************************************************************************/
+
int __init init_mini_module(void)
{
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
@@ -108,6 +121,8 @@ int __init init_mini_module(void)
goto out_return;
}
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
printk(KERN_INFO "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master)))
{
@@ -137,6 +152,12 @@ int __init init_mini_module(void)
ecrt_master_print(master, 0);
#endif
+#if 1
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+#endif
#if 0
if (!(slave = ecrt_master_get_slave(master, "5"))) {
@@ -180,7 +201,7 @@ int __init init_mini_module(void)
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
-#if 0
+#if 1
out_deactivate:
ecrt_master_deactivate(master);
#endif
diff --git a/rt/msr_rt.c b/rt/msr_rt.c
index b69acfae..d2fe6967 100644
--- a/rt/msr_rt.c
+++ b/rt/msr_rt.c
@@ -179,6 +179,13 @@ int __init init_rt_module(void)
goto out_release_master;
}
+#if 0
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+#endif
+
#if 0
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
--
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