master/domain.c
author Florian Pose <fp@igh-essen.com>
Tue, 04 Sep 2012 14:19:06 +0200
changeset 2411 01370d59233d
parent 2101 01b30593e942
child 2589 2b9c78543663
permissions -rw-r--r--
Malformed hg keywords.
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     6
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    11
 *  published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    12
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    16
 *  Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    17
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    27
 *
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    30
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    31
   \file
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    32
   EtherCAT domain methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    33
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    34
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    35
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    36
294
feea8d850c65 Applied include patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
    37
#include <linux/module.h>
feea8d850c65 Applied include patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
    38
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
    39
#include "globals.h"
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    40
#include "master.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    41
#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    42
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
    43
#include "domain.h"
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    44
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    45
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    46
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    47
void ec_domain_clear_data(ec_domain_t *);
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    48
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    49
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    50
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    51
/** Domain constructor.
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    52
 */
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    53
void ec_domain_init(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    54
        ec_domain_t *domain, /**< EtherCAT domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    55
        ec_master_t *master, /**< Parent master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    56
        unsigned int index /**< Index. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    57
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    58
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    59
    domain->master = master;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    60
    domain->index = index;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    61
    INIT_LIST_HEAD(&domain->fmmu_configs);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    62
    domain->data_size = 0;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
    63
    domain->tx_size = 0;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    64
    domain->data = NULL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    65
    domain->data_origin = EC_ORIG_INTERNAL;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    66
    domain->logical_base_address = 0x00000000;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    67
    INIT_LIST_HEAD(&domain->datagrams);
1032
748c34ab66b6 working_counter = 0x0000;
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
    68
    domain->working_counter = 0x0000;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    69
    domain->expected_working_counter = 0x0000;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
    70
    domain->working_counter_changes = 0;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
    71
    domain->notify_jiffies = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    72
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    74
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    75
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
    76
/** Domain destructor.
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    77
 */
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    78
void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    79
{
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    80
    ec_datagram_t *datagram, *next;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    81
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    82
    // dequeue and free datagrams
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    83
    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
    84
        ec_datagram_clear(datagram);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
    85
        kfree(datagram);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
    86
    }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
    87
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    88
    ec_domain_clear_data(domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    89
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    90
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    91
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    92
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    93
/** Frees internally allocated memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    94
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    95
void ec_domain_clear_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    96
        ec_domain_t *domain /**< EtherCAT domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    97
        )
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    98
{
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
    99
    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   100
        kfree(domain->data);
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   101
    }
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   102
    domain->data = NULL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   103
    domain->data_origin = EC_ORIG_INTERNAL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   104
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   105
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   106
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   107
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   108
/** Adds an FMMU configuration to the domain.
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   109
 */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   110
void ec_domain_add_fmmu_config(
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   111
        ec_domain_t *domain, /**< EtherCAT domain. */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   112
        ec_fmmu_config_t *fmmu /**< FMMU configuration. */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   113
        )
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   114
{
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   115
    fmmu->domain = domain;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   116
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   117
    domain->data_size += fmmu->data_size;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
   118
    domain->tx_size += fmmu->tx_size;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   119
    list_add_tail(&fmmu->list, &domain->fmmu_configs);
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 885
diff changeset
   120
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   121
    EC_MASTER_DBG(domain->master, 1, "Domain %u:"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   122
            " Added %u bytes, total %zu.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   123
            domain->index, fmmu->data_size, domain->data_size);
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   124
}
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   125
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   126
/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   127
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   128
/** Allocates a domain datagram and appends it to the list.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   129
 *
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   130
 * The datagram type and expected working counters are determined by the
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   131
 * number of input and output fmmus that share the datagram.
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   132
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   133
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   134
 * \retval <0 Error code.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   135
 */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   136
int ec_domain_add_datagram(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   137
        ec_domain_t *domain, /**< EtherCAT domain. */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   138
        uint32_t logical_offset, /**< Logical offset. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   139
        size_t data_size, /**< Size of the data. */
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   140
        uint8_t *data, /**< Process data. */
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   141
        const unsigned int used[] /**< Slave config counter for in/out. */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   142
        )
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   143
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   144
    ec_datagram_t *datagram;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   145
    int ret;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   146
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   147
    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   148
        EC_MASTER_ERR(domain->master,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   149
                "Failed to allocate domain datagram!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   150
        return -ENOMEM;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   151
    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   152
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   153
    ec_datagram_init(datagram);
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   154
    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   155
            "domain%u-%u", domain->index, logical_offset);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   156
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   157
    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   158
        ret = ec_datagram_lrw(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   159
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   160
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   161
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   162
        }
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   163
        // If LRW is used, output FMMUs increment the working counter by 2,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   164
        // while input FMMUs increment it by 1.
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   165
        domain->expected_working_counter +=
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   166
            used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   167
    } else if (used[EC_DIR_OUTPUT]) { // outputs only
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   168
        ret = ec_datagram_lwr(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   169
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   170
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   171
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   172
        }
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   173
        domain->expected_working_counter += used[EC_DIR_OUTPUT];
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   174
    } else { // inputs only (or nothing)
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   175
        ret = ec_datagram_lrd(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   176
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   177
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   178
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   179
        }
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   180
        domain->expected_working_counter += used[EC_DIR_INPUT];
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   181
    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   182
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   183
    ec_datagram_zero(datagram);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   184
    list_add_tail(&datagram->list, &domain->datagrams);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
   185
    datagram->domain = domain;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   186
    return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   187
}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   188
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   189
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   190
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   191
/** Domain finish helper function.
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   192
 *
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   193
 * Detects, if a slave configuration has already been taken into account for
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   194
 * a datagram's expected working counter calculation.
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   195
 *
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   196
 * Walks through the list of all FMMU configurations for the current datagram
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   197
 * and ends before the current datagram.
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   198
 */
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   199
int shall_count(
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   200
        const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   201
                                            search for. */
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   202
        const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   203
        )
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   204
{
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   205
    for (; first_fmmu != cur_fmmu;
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   206
            first_fmmu = list_entry(first_fmmu->list.next,
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   207
                ec_fmmu_config_t, list)) {
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   208
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   209
        if (first_fmmu->sc == cur_fmmu->sc
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   210
                && first_fmmu->dir == cur_fmmu->dir) {
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   211
            return 0; // was already counted
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   212
        }
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   213
    }
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   214
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   215
    return 1;
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   216
}
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   217
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   218
/*****************************************************************************/
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   219
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   220
/** Finishes a domain.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   221
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   222
 * This allocates the necessary datagrams and writes the correct logical
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   223
 * addresses to every configured FMMU.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   224
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   225
 * \todo Check for FMMUs that do not fit into any datagram.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   226
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   227
 * \retval  0 Success
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   228
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   229
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   230
int ec_domain_finish(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   231
        ec_domain_t *domain, /**< EtherCAT domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   232
        uint32_t base_address /**< Logical base address. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   233
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   234
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   235
    uint32_t datagram_offset;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   236
    size_t datagram_size;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   237
    unsigned int datagram_count;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1032
diff changeset
   238
    unsigned int datagram_used[EC_DIR_COUNT];
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   239
    ec_fmmu_config_t *fmmu;
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   240
    const ec_fmmu_config_t *datagram_first_fmmu = NULL;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   241
    const ec_datagram_t *datagram;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   242
    int ret;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   243
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   244
    domain->logical_base_address = base_address;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   245
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   246
    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   247
        if (!(domain->data =
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   248
                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   249
            EC_MASTER_ERR(domain->master, "Failed to allocate %zu bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   250
                    " internal memory for domain %u!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   251
                    domain->data_size, domain->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   252
            return -ENOMEM;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   253
        }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   254
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   255
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   256
    // Cycle through all domain FMMUs and
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   257
    // - correct the logical base addresses
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   258
    // - set up the datagrams to carry the process data
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   259
    // - calculate the datagrams' expected working counters
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   260
    datagram_offset = 0;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   261
    datagram_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   262
    datagram_count = 0;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   263
    datagram_used[EC_DIR_OUTPUT] = 0;
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   264
    datagram_used[EC_DIR_INPUT] = 0;
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   265
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   266
    if (!list_empty(&domain->fmmu_configs)) {
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   267
        datagram_first_fmmu =
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   268
            list_entry(domain->fmmu_configs.next, ec_fmmu_config_t, list);
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   269
    }
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   270
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   271
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   272
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   273
        // Correct logical FMMU address
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   274
        fmmu->logical_start_address += base_address;
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
   275
        fmmu->domain_address += base_address;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   276
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   277
        // Increment input/output counter to determine datagram types
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   278
        // and calculate expected working counters
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   279
        if (shall_count(fmmu, datagram_first_fmmu)) {
1798
e7733f825982 Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
Dominik Staubli <ch1010252@ch10pc423>
parents: 1553
diff changeset
   280
            datagram_used[fmmu->dir]++;
e7733f825982 Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
Dominik Staubli <ch1010252@ch10pc423>
parents: 1553
diff changeset
   281
        }
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1798
diff changeset
   282
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   283
        // If the current FMMU's data do not fit in the current datagram,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   284
        // allocate a new one.
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
   285
        if (datagram_size + fmmu->tx_size > EC_MAX_DATA_SIZE) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   286
            ret = ec_domain_add_datagram(domain,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   287
                    domain->logical_base_address + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   288
                    datagram_size, domain->data + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   289
                    datagram_used);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   290
            if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   291
                return ret;
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   292
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   293
            datagram_offset += datagram_size;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   294
            datagram_size = 0;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   295
            datagram_count++;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   296
            datagram_used[EC_DIR_OUTPUT] = 0;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   297
            datagram_used[EC_DIR_INPUT] = 0;
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   298
            datagram_first_fmmu = fmmu;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   299
        }
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   300
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1907
diff changeset
   301
        datagram_size += fmmu->tx_size;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   302
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   303
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
   304
    // Allocate last datagram, if data are left (this is also the case if the
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
   305
    // process data fit into a single datagram)
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   306
    if (datagram_size) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   307
        ret = ec_domain_add_datagram(domain,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   308
                domain->logical_base_address + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   309
                datagram_size, domain->data + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   310
                datagram_used);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   311
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   312
            return ret;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   313
        datagram_count++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   314
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   315
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   316
    EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   317
            " %zu byte, expected working counter %u.\n", domain->index,
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   318
            domain->logical_base_address, domain->data_size,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   319
            domain->expected_working_counter);
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   320
    list_for_each_entry(datagram, &domain->datagrams, list) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   321
        EC_MASTER_INFO(domain->master, "  Datagram %s: Logical offset 0x%08x,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   322
                " %zu byte, type %s.\n", datagram->name,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   323
                EC_READ_U32(datagram->address), datagram->data_size,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   324
                ec_datagram_type_string(datagram));
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   325
    }
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   326
    
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   327
    return 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   328
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   329
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   330
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   331
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   332
/** Get the number of FMMU configurations of the domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   333
 */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   334
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   335
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   336
    const ec_fmmu_config_t *fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   337
    unsigned int num = 0;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   338
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   339
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   340
        num++;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   341
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   342
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   343
    return num;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   344
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   345
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   346
/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   347
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   348
/** Get a certain FMMU configuration via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   349
 */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   350
const ec_fmmu_config_t *ec_domain_find_fmmu(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   351
        const ec_domain_t *domain, /**< EtherCAT domain. */
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   352
        unsigned int pos /**< List position. */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   353
        )
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   354
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   355
    const ec_fmmu_config_t *fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   356
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   357
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   358
        if (pos--)
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   359
            continue;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   360
        return fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   361
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   362
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   363
    return NULL;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   364
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   365
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   366
/******************************************************************************
2101
01b30593e942 Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents: 2028
diff changeset
   367
 *  Application interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   368
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   369
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   370
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   371
        const ec_pdo_entry_reg_t *regs)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   372
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   373
    const ec_pdo_entry_reg_t *reg;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   374
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   375
    int ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   376
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   377
    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   378
            "domain = 0x%p, regs = 0x%p)\n", domain, regs);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   379
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   380
    for (reg = regs; reg->index; reg++) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   381
        sc = ecrt_master_slave_config_err(domain->master, reg->alias,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   382
                reg->position, reg->vendor_id, reg->product_code);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   383
        if (IS_ERR(sc))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   384
            return PTR_ERR(sc);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   385
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   386
        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   387
                        reg->subindex, domain, reg->bit_position);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   388
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   389
            return ret;
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   390
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   391
        *reg->offset = ret;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   392
    }
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   393
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   394
    return 0;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   395
}
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   396
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   397
/*****************************************************************************/
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   398
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   399
size_t ecrt_domain_size(const ec_domain_t *domain)
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   400
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   401
    return domain->data_size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   402
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   403
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   404
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   405
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   406
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   407
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   408
    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory("
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   409
            "domain = 0x%p, mem = 0x%p)\n", domain, mem);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   410
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 1989
diff changeset
   411
    ec_mutex_lock(&domain->master->master_mutex);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   412
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   413
    ec_domain_clear_data(domain);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   414
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   415
    domain->data = mem;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   416
    domain->data_origin = EC_ORIG_EXTERNAL;
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   417
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 1989
diff changeset
   418
    ec_mutex_unlock(&domain->master->master_mutex);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   419
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   420
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   421
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   422
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   423
uint8_t *ecrt_domain_data(ec_domain_t *domain)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   424
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   425
    return domain->data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   426
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   427
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   428
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   429
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   430
void ecrt_domain_process(ec_domain_t *domain)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   431
{
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   432
    uint16_t working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   433
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   434
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   435
    working_counter_sum = 0x0000;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   436
    list_for_each_entry(datagram, &domain->datagrams, list) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   437
        ec_datagram_output_stats(datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   438
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   439
            working_counter_sum += datagram->working_counter;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   440
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   441
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   442
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   443
    if (working_counter_sum != domain->working_counter) {
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   444
        domain->working_counter_changes++;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   445
        domain->working_counter = working_counter_sum;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   446
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   447
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   448
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   449
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   450
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   451
        if (domain->working_counter_changes == 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   452
            EC_MASTER_INFO(domain->master, "Domain %u: Working counter"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   453
                    " changed to %u/%u.\n", domain->index,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   454
                    domain->working_counter, domain->expected_working_counter);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   455
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   456
            EC_MASTER_INFO(domain->master, "Domain %u: %u working counter"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   457
                    " changes - now %u/%u.\n", domain->index,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   458
                    domain->working_counter_changes, domain->working_counter,
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 885
diff changeset
   459
                    domain->expected_working_counter);
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   460
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   461
        domain->working_counter_changes = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   462
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   463
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   464
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   465
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   466
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   467
void ecrt_domain_queue(ec_domain_t *domain)
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   468
{
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   469
    ec_datagram_t *datagram;
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   470
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   471
    list_for_each_entry(datagram, &domain->datagrams, list) {
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   472
        ec_master_queue_datagram(domain->master, datagram);
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   473
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   474
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   475
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   476
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   477
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   478
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   479
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   480
    state->working_counter = domain->working_counter;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   481
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   482
    if (domain->working_counter) {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   483
        if (domain->working_counter == domain->expected_working_counter) {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   484
            state->wc_state = EC_WC_COMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   485
        } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   486
            state->wc_state = EC_WC_INCOMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   487
        }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   488
    } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   489
        state->wc_state = EC_WC_ZERO;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   490
    }
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   491
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   492
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   493
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   494
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   495
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   496
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   497
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   498
EXPORT_SYMBOL(ecrt_domain_size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   499
EXPORT_SYMBOL(ecrt_domain_external_memory);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   500
EXPORT_SYMBOL(ecrt_domain_data);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   501
EXPORT_SYMBOL(ecrt_domain_process);
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   502
EXPORT_SYMBOL(ecrt_domain_queue);
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   503
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   505
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   506
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   507
/*****************************************************************************/