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/******************************************************************************

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 *

     3

 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

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    30

/**

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   \file

    32

   EtherCAT domain methods.

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*/

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    35

/*****************************************************************************/

    36

    37

#include <linux/module.h>

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#include "globals.h"

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#include "master.h"

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#include "slave_config.h"

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#include "domain.h"

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    45

/*****************************************************************************/

    46

    47

void ec_domain_clear_data(ec_domain_t *);

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    49

/*****************************************************************************/

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    51

/** Domain constructor.

    52

 */

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void ec_domain_init(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        ec_master_t *master, /**< Parent master. */

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        unsigned int index /**< Index. */

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        )

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{

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    domain->master = master;

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    domain->index = index;

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    INIT_LIST_HEAD(&domain->fmmu_configs);

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    domain->data_size = 0;

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    domain->tx_size = 0;

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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    domain->logical_base_address = 0x00000000;

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    INIT_LIST_HEAD(&domain->datagrams);

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    domain->working_counter = 0x0000;

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    domain->expected_working_counter = 0x0000;

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    domain->working_counter_changes = 0;

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    domain->notify_jiffies = 0;

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}

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/*****************************************************************************/

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    76

/** Domain destructor.

    77

 */

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void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)

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{

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    ec_datagram_t *datagram, *next;

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    // dequeue and free datagrams

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    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {

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        ec_datagram_clear(datagram);

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        kfree(datagram);

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    }

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    88

    ec_domain_clear_data(domain);

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}

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/*****************************************************************************/

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    93

/** Frees internally allocated memory.

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 */

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void ec_domain_clear_data(

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        ec_domain_t *domain /**< EtherCAT domain. */

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        )

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{

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    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data) {

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        kfree(domain->data);

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    }

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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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}

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   106

/*****************************************************************************/

   107

   108

/** Adds an FMMU configuration to the domain.

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 */

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void ec_domain_add_fmmu_config(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        ec_fmmu_config_t *fmmu /**< FMMU configuration. */

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        )

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{

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    fmmu->domain = domain;

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   117

    domain->data_size += fmmu->data_size;

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    domain->tx_size += fmmu->tx_size;

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    list_add_tail(&fmmu->list, &domain->fmmu_configs);

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    EC_MASTER_DBG(domain->master, 1, "Domain %u:"

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            " Added %u bytes, total %zu.\n",

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            domain->index, fmmu->data_size, domain->data_size);

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}

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/*****************************************************************************/

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   128

/** Allocates a domain datagram and appends it to the list.

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 *

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 * The datagram type and expected working counters are determined by the

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 * number of input and output fmmus that share the datagram.

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

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 */

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int ec_domain_add_datagram(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        uint32_t logical_offset, /**< Logical offset. */

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        size_t data_size, /**< Size of the data. */

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        uint8_t *data, /**< Process data. */

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        const unsigned int used[] /**< Slave config counter for in/out. */

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        )

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{

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    ec_datagram_t *datagram;

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    int ret;

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    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {

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        EC_MASTER_ERR(domain->master,

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                "Failed to allocate domain datagram!\n");

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        return -ENOMEM;

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    }

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    ec_datagram_init(datagram);

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    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,

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            "domain%u-%u", domain->index, logical_offset);

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    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs

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        ret = ec_datagram_lrw(datagram, logical_offset, data_size, data);

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        if (ret < 0) {

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            kfree(datagram);

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            return ret;

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        }

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        // If LRW is used, output FMMUs increment the working counter by 2,

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        // while input FMMUs increment it by 1.

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        domain->expected_working_counter +=

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            used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];

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    } else if (used[EC_DIR_OUTPUT]) { // outputs only

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        ret = ec_datagram_lwr(datagram, logical_offset, data_size, data);

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        if (ret < 0) {

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            kfree(datagram);

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            return ret;

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        }

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        domain->expected_working_counter += used[EC_DIR_OUTPUT];

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    } else { // inputs only (or nothing)

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        ret = ec_datagram_lrd(datagram, logical_offset, data_size, data);

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        if (ret < 0) {

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            kfree(datagram);

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            return ret;

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        }

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        domain->expected_working_counter += used[EC_DIR_INPUT];

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    }

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    ec_datagram_zero(datagram);

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    list_add_tail(&datagram->list, &domain->datagrams);

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    datagram->domain = domain;

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    return 0;

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}

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   189

/*****************************************************************************/

   190

   191

/** Domain finish helper function.

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 *

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 * Detects, if a slave configuration has already been taken into account for

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 * a datagram's expected working counter calculation.

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 *

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 * Walks through the list of all FMMU configurations for the current datagram

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 * and ends before the current datagram.

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 */

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int shall_count(

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        const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to

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                                            search for. */

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        const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */

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        )

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{

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    for (; first_fmmu != cur_fmmu;

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            first_fmmu = list_entry(first_fmmu->list.next,

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                ec_fmmu_config_t, list)) {

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        if (first_fmmu->sc == cur_fmmu->sc

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                && first_fmmu->dir == cur_fmmu->dir) {

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            return 0; // was already counted

   212

        }

   213

    }

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    return 1;

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}

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/*****************************************************************************/

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/** Finishes a domain.

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 *

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 * This allocates the necessary datagrams and writes the correct logical

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 * addresses to every configured FMMU.

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 *

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 * \todo Check for FMMUs that do not fit into any datagram.

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 *

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 * \retval  0 Success

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 * \retval <0 Error code.

   229

 */

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int ec_domain_finish(

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        ec_domain_t *domain, /**< EtherCAT domain. */

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        uint32_t base_address /**< Logical base address. */

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        )

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{

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    uint32_t datagram_offset;

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    size_t datagram_size;

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    unsigned int datagram_count;

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    unsigned int datagram_used[EC_DIR_COUNT];

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    ec_fmmu_config_t *fmmu;

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    const ec_fmmu_config_t *datagram_first_fmmu = NULL;

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    const ec_datagram_t *datagram;

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    int ret;

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    domain->logical_base_address = base_address;

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    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {

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        if (!(domain->data =

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                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {

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            EC_MASTER_ERR(domain->master, "Failed to allocate %zu bytes"

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                    " internal memory for domain %u!\n",

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                    domain->data_size, domain->index);

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            return -ENOMEM;

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        }

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    }

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    // Cycle through all domain FMMUs and

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    // - correct the logical base addresses

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    // - set up the datagrams to carry the process data

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    // - calculate the datagrams' expected working counters

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    datagram_offset = 0;

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    datagram_size = 0;

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    datagram_count = 0;

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    datagram_used[EC_DIR_OUTPUT] = 0;

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    datagram_used[EC_DIR_INPUT] = 0;

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    if (!list_empty(&domain->fmmu_configs)) {

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        datagram_first_fmmu =

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            list_entry(domain->fmmu_configs.next, ec_fmmu_config_t, list);

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    }

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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

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        // Correct logical FMMU address

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        fmmu->logical_start_address += base_address;

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        fmmu->domain_address += base_address;

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        // Increment input/output counter to determine datagram types

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        // and calculate expected working counters

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        if (shall_count(fmmu, datagram_first_fmmu)) {

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            datagram_used[fmmu->dir]++;

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        }

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        // If the current FMMU's data do not fit in the current datagram,

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        // allocate a new one.

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        if (datagram_size + fmmu->tx_size > EC_MAX_DATA_SIZE) {

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            ret = ec_domain_add_datagram(domain,

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                    domain->logical_base_address + datagram_offset,

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                    datagram_size, domain->data + datagram_offset,

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                    datagram_used);

   290

            if (ret < 0)

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                return ret;

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            datagram_offset += datagram_size;

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            datagram_size = 0;

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            datagram_count++;

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            datagram_used[EC_DIR_OUTPUT] = 0;

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            datagram_used[EC_DIR_INPUT] = 0;

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            datagram_first_fmmu = fmmu;

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        }

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   301

        datagram_size += fmmu->tx_size;

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    }

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   304

    // Allocate last datagram, if data are left (this is also the case if the

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    // process data fit into a single datagram)

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    if (datagram_size) {

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        ret = ec_domain_add_datagram(domain,

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                domain->logical_base_address + datagram_offset,

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                datagram_size, domain->data + datagram_offset,

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                datagram_used);

   311

        if (ret < 0)

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            return ret;

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        datagram_count++;

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    }

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    EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x,"

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            " %zu byte, expected working counter %u.\n", domain->index,

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            domain->logical_base_address, domain->data_size,

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            domain->expected_working_counter);

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    list_for_each_entry(datagram, &domain->datagrams, list) {

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        EC_MASTER_INFO(domain->master, "  Datagram %s: Logical offset 0x%08x,"

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                " %zu byte, type %s.\n", datagram->name,

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                EC_READ_U32(datagram->address), datagram->data_size,

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                ec_datagram_type_string(datagram));

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    }

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   327

    return 0;

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}

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/*****************************************************************************/

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   332

/** Get the number of FMMU configurations of the domain.

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 */

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unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)

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{

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    const ec_fmmu_config_t *fmmu;

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    unsigned int num = 0;

   338

   339

    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

   340

        num++;

   341

    }

   342

   343

    return num;

   344

}

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   346

/*****************************************************************************/

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   348

/** Get a certain FMMU configuration via its position in the list.

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 */

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const ec_fmmu_config_t *ec_domain_find_fmmu(

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        const ec_domain_t *domain, /**< EtherCAT domain. */

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        unsigned int pos /**< List position. */

   353

        )

   354

{

   355

    const ec_fmmu_config_t *fmmu;

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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

   358

        if (pos--)

   359

            continue;

   360

        return fmmu;

   361

    }

   362

   363

    return NULL;

   364

}

   365

   366

/******************************************************************************

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 *  Application interface

   368

 *****************************************************************************/

   369

   370

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,

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        const ec_pdo_entry_reg_t *regs)

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{

   373

    const ec_pdo_entry_reg_t *reg;

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    ec_slave_config_t *sc;

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    int ret;

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    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("

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            "domain = 0x%p, regs = 0x%p)\n", domain, regs);

   379

   380

    for (reg = regs; reg->index; reg++) {

   381

        sc = ecrt_master_slave_config_err(domain->master, reg->alias,

   382

                reg->position, reg->vendor_id, reg->product_code);

   383

        if (IS_ERR(sc))

   384

            return PTR_ERR(sc);

   385

   386

        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,

   387

                        reg->subindex, domain, reg->bit_position);

   388

        if (ret < 0)

   389

            return ret;

   390

   391

        *reg->offset = ret;

   392

    }

   393

   394

    return 0;

   395

}

   396

   397

/*****************************************************************************/

   398

   399

size_t ecrt_domain_size(const ec_domain_t *domain)

   400

{

   401

    return domain->data_size;

   402

}

   403

   404

/*****************************************************************************/

   405

   406

void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)

   407

{

   408

    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory("

   409

            "domain = 0x%p, mem = 0x%p)\n", domain, mem);

   410

   411

    ec_mutex_lock(&domain->master->master_mutex);

   412

   413

    ec_domain_clear_data(domain);

   414

   415

    domain->data = mem;

   416

    domain->data_origin = EC_ORIG_EXTERNAL;

   417

   418

    ec_mutex_unlock(&domain->master->master_mutex);

   419

}

   420

   421

/*****************************************************************************/

   422

   423

uint8_t *ecrt_domain_data(ec_domain_t *domain)

   424

{

   425

    return domain->data;

   426

}

   427

   428

/*****************************************************************************/

   429

   430

void ecrt_domain_process(ec_domain_t *domain)

   431

{

   432

    uint16_t working_counter_sum;

   433

    ec_datagram_t *datagram;

   434

   435

    working_counter_sum = 0x0000;

   436

    list_for_each_entry(datagram, &domain->datagrams, list) {

   437

        ec_datagram_output_stats(datagram);

   438

        if (datagram->state == EC_DATAGRAM_RECEIVED) {

   439

            working_counter_sum += datagram->working_counter;

   440

        }

   441

    }

   442

   443

    if (working_counter_sum != domain->working_counter) {

   444

        domain->working_counter_changes++;

   445

        domain->working_counter = working_counter_sum;

   446

    }

   447

   448

    if (domain->working_counter_changes &&

   449

        jiffies - domain->notify_jiffies > HZ) {

   450

        domain->notify_jiffies = jiffies;

   451

        if (domain->working_counter_changes == 1) {

   452

            EC_MASTER_INFO(domain->master, "Domain %u: Working counter"

   453

                    " changed to %u/%u.\n", domain->index,

   454

                    domain->working_counter, domain->expected_working_counter);

   455

        } else {

   456

            EC_MASTER_INFO(domain->master, "Domain %u: %u working counter"

   457

                    " changes - now %u/%u.\n", domain->index,

   458

                    domain->working_counter_changes, domain->working_counter,

   459

                    domain->expected_working_counter);

   460

        }

   461

        domain->working_counter_changes = 0;

   462

    }

   463

}

   464

   465

/*****************************************************************************/

   466

   467

void ecrt_domain_queue(ec_domain_t *domain)

   468

{

   469

    ec_datagram_t *datagram;

   470

   471

    list_for_each_entry(datagram, &domain->datagrams, list) {

   472

        ec_master_queue_datagram(domain->master, datagram);

   473

    }

   474

}

   475

   476

/*****************************************************************************/

   477

   478

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)

   479

{

   480

    state->working_counter = domain->working_counter;

   481

   482

    if (domain->working_counter) {

   483

        if (domain->working_counter == domain->expected_working_counter) {

   484

            state->wc_state = EC_WC_COMPLETE;