master/domain.c
author Florian Pose <fp@igh-essen.com>
Thu, 28 Feb 2008 11:07:40 +0000
changeset 837 133528cfd528
parent 818 b6c87ae254c9
child 885 eaa10a277d52
permissions -rw-r--r--
NEWS.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT domain methods.
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*/
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/*****************************************************************************/
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#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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/*****************************************************************************/
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void ec_domain_clear(struct kobject *);
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void ec_domain_clear_data(ec_domain_t *);
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ssize_t ec_show_domain_attribute(struct kobject *, struct attribute *, char *);
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/*****************************************************************************/
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/** Working counter increment values for logical read/write operations.
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 *
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 * \attention This is indexed by ec_direction_t.
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 */
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static const unsigned int working_counter_increment[] = {2, 1};
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(image_size);
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static struct attribute *def_attrs[] = {
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    &attr_image_size,
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    NULL,
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};
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static struct sysfs_ops sysfs_ops = {
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    .show = &ec_show_domain_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_domain = {
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    .release = ec_domain_clear,
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    .sysfs_ops = &sysfs_ops,
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    .default_attrs = def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/** Domain constructor.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int 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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    domain->data_size = 0;
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    domain->expected_working_counter = 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 = 0L;
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    domain->working_counter = 0xFFFFFFFF;
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    domain->state = 0;
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    domain->working_counter_changes = 0;
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    domain->notify_jiffies = 0;
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    INIT_LIST_HEAD(&domain->datagrams);
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    // init kobject and add it to the hierarchy
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    memset(&domain->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&domain->kobj);
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    domain->kobj.ktype = &ktype_ec_domain;
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    domain->kobj.parent = &master->kobj;
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    if (kobject_set_name(&domain->kobj, "domain%u", index)) {
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        EC_ERR("Failed to set kobj name.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    if (kobject_add(&domain->kobj)) {
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        EC_ERR("Failed to add domain kobject.\n");
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        kobject_put(&domain->kobj);
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** Domain destructor.
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 *
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 * Clears and frees a domain object.
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 */
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void ec_domain_destroy(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_datagram_t *datagram;
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    // dequeue datagrams
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    list_for_each_entry(datagram, &domain->datagrams, list) {
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        if (!list_empty(&datagram->queue)) // datagram queued?
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            list_del_init(&datagram->queue);
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    }
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    // destroy self
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    kobject_del(&domain->kobj);
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    kobject_put(&domain->kobj);
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}
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/*****************************************************************************/
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/** Clear and free domain.
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 *
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 * This method is called by the kobject, once there are no more references
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 * to it.
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 */
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void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
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{
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    ec_domain_t *domain;
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    ec_datagram_t *datagram, *next;
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    domain = container_of(kobj, ec_domain_t, kobj);
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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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    ec_domain_clear_data(domain);
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178
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    kfree(domain);
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}
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/*****************************************************************************/
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/** 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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    domain->data = NULL;
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    domain->data_origin = EC_ORIG_INTERNAL;
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}
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/*****************************************************************************/
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/** 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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    domain->data_size += fmmu->data_size;
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    domain->expected_working_counter += working_counter_increment[fmmu->dir];
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}
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/*****************************************************************************/
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/** Allocates a domain datagram and appends it to the list.
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 *
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 * \return 0 in case of success, else < 0
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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[] /**< Used by inputs/outputs. */
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        )
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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{
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    ec_datagram_t *datagram;
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    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate domain datagram!\n");
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        return -1;
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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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        if (ec_datagram_lrw(datagram, logical_offset, data_size, data)) {
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            kfree(datagram);
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            return -1;
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        }
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    } else if (used[EC_DIR_OUTPUT]) { // outputs only
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        if (ec_datagram_lwr(datagram, logical_offset, data_size, data)) {
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            kfree(datagram);
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            return -1;
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        }
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    } else { // inputs only (or nothing)
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        if (ec_datagram_lrd(datagram, logical_offset, data_size, data)) {
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            kfree(datagram);
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            return -1;
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        }
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    }
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    list_add_tail(&datagram->list, &domain->datagrams);
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    return 0;
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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 in case of success
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 * \retval <0 on failure.
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 */
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int ec_domain_finish(
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        ec_domain_t *domain, /**< EtherCAT domain. */
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   266
        uint32_t base_address /**< Logical base address. */
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   267
        )
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{
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   269
    uint32_t datagram_offset;
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    size_t datagram_size;
792
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    unsigned int datagram_count, i;
817
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    unsigned int datagram_used[2];
792
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    ec_slave_config_t *sc;
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    ec_fmmu_config_t *fmmu;
817
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    const ec_datagram_t *datagram;
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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_ERR("Failed to allocate %u bytes internal memory for"
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   283
                    " domain %u!\n", domain->data_size, domain->index);
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   284
            return -1;
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   285
        }
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   286
    }
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    // Cycle through all domain FMMUS, correct the logical base addresses and
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    // set up the datagrams to carry the process data.
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    datagram_offset = 0;
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    datagram_size = 0;
325
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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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    list_for_each_entry(sc, &domain->master->configs, list) {
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        for (i = 0; i < sc->used_fmmus; i++) {
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            fmmu = &sc->fmmu_configs[i];
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            if (fmmu->domain != domain)
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                continue;
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            // Correct logical FMMU address
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            fmmu->logical_start_address += base_address;
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817
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   305
            // Increment Input/Output counter
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            datagram_used[fmmu->dir]++;
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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->data_size > EC_MAX_DATA_SIZE) {
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                if (ec_domain_add_datagram(domain,
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                            domain->logical_base_address + datagram_offset,
817
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                            datagram_size, domain->data + datagram_offset,
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   314
                            datagram_used))
809
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                    return -1;
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                datagram_offset += datagram_size;
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                datagram_size = 0;
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   318
                datagram_count++;
817
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   319
                datagram_used[EC_DIR_OUTPUT] = 0;
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                datagram_used[EC_DIR_INPUT] = 0;
73
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diff changeset
   321
            }
809
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   322
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   323
            datagram_size += fmmu->data_size;
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   324
        }
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   325
    }
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   326
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   327
    // allocate last datagram, if data are left
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diff changeset
   328
    if (datagram_size) {
ec4ef8911824 External domain memory.
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   329
        if (ec_domain_add_datagram(domain,
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   330
                    domain->logical_base_address + datagram_offset,
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   331
                    datagram_size, domain->data + datagram_offset,
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   332
                    datagram_used))
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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diff changeset
   333
            return -1;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   334
        datagram_count++;
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diff changeset
   335
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   336
817
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   337
    EC_INFO("Domain %u with logical offset %u contains %u bytes.\n",
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   338
            domain->index, domain->logical_base_address, domain->data_size);
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   339
    list_for_each_entry(datagram, &domain->datagrams, list) {
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   340
        EC_INFO("  Datagram %s, logical offset %u, size %u, type %s.\n",
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   341
                datagram->name, EC_READ_U32(datagram->address),
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   342
                datagram->data_size, ec_datagram_type_string(datagram));
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   343
    }
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   344
    
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   345
    return 0;
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diff changeset
   346
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   347
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   348
/*****************************************************************************/
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   349
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   350
/**
195
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   351
   Formats attribute data for SysFS reading.
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   352
   \return number of bytes to read
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diff changeset
   353
*/
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   354
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   355
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
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diff changeset
   356
                                 struct attribute *attr, /**< attribute */
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   357
                                 char *buffer /**< memory to store data in */
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   358
                                 )
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   359
{
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   360
    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   361
315
119f967aead8 Renamed Sysfs attributes.
Florian Pose <fp@igh-essen.com>
parents: 294
diff changeset
   362
    if (attr == &attr_image_size) {
783
0e16f97cf752 Esthetic surgery for domain.
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diff changeset
   363
        return sprintf(buffer, "%u\n", domain->data_size);
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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parents: 166
diff changeset
   364
    }
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   365
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
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diff changeset
   366
    return 0;
97
e6264685dd7b Link-Down-Verhalten verbessert.
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diff changeset
   367
}
e6264685dd7b Link-Down-Verhalten verbessert.
Florian Pose <fp@igh-essen.com>
parents: 96
diff changeset
   368
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   369
/******************************************************************************
195
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diff changeset
   370
 *  Realtime interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   371
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   372
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   373
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>
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diff changeset
   374
        const ec_pdo_entry_reg_t *regs)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   375
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   376
    const ec_pdo_entry_reg_t *reg;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   377
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   378
    int ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
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diff changeset
   379
    
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   380
    for (reg = regs; reg->index; reg++) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents: 783
diff changeset
   381
        if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   382
                        reg->position, reg->vendor_id, reg->product_code)))
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   383
            return -1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   384
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   385
        if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   386
                        reg->subindex, domain)) < 0)
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
   387
            return -1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   388
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   389
        *reg->offset = ret;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   390
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   391
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   392
    return 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   393
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents: 783
diff changeset
   394
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   395
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents: 783
diff changeset
   396
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
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diff changeset
   397
size_t ecrt_domain_size(ec_domain_t *domain)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   398
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   399
    return domain->data_size;
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
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
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
   405
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   406
    ec_domain_clear_data(domain);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   407
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   408
    domain->data = mem;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   409
    domain->data_origin = EC_ORIG_EXTERNAL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   410
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   411
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   412
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   413
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   414
uint8_t *ecrt_domain_data(ec_domain_t *domain)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   415
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   416
    return domain->data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   417
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   418
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
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   421
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
   422
{
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   423
    unsigned int working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   424
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   425
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   426
    working_counter_sum = 0;
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   427
    domain->state = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   428
    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
   429
        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
   430
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   431
            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
   432
        }
363
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   433
        else {
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   434
            domain->state = -1;
58588a3a1562 Bugfix: ecrt_domain_state() always returned -1.
Florian Pose <fp@igh-essen.com>
parents: 353
diff changeset
   435
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   436
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   437
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   438
    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
   439
        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
   440
        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
   441
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   442
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   443
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   444
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   445
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   446
        if (domain->working_counter_changes == 1) {
783
0e16f97cf752 Esthetic surgery for domain.
Florian Pose <fp@igh-essen.com>
parents: 782
diff changeset
   447
            EC_INFO("Domain %u working counter change: %u\n", domain->index,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   448
                    domain->working_counter);
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   449
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   450
        else {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   451
            EC_INFO("Domain %u: %u working counter changes. Currently %u\n",
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   452
                    domain->index, 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
   453
                    domain->working_counter);
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   454
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   455
        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
   456
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   457
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   458
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   459
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   460
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   461
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
   462
{
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   463
    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
   464
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   465
    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
   466
        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
   467
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   468
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   469
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   470
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   471
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   472
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
   473
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   474
    state->working_counter = domain->working_counter;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   475
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   476
    if (domain->working_counter) {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   477
        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
   478
            state->wc_state = EC_WC_COMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   479
        } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   480
            state->wc_state = EC_WC_INCOMPLETE;
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
    } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   483
        state->wc_state = EC_WC_ZERO;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   484
    }
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   485
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   486
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   487
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   488
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   489
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   490
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   491
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   492
EXPORT_SYMBOL(ecrt_domain_size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   493
EXPORT_SYMBOL(ecrt_domain_external_memory);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   494
EXPORT_SYMBOL(ecrt_domain_data);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   495
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
   496
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
   497
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   499
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   500
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   501
/*****************************************************************************/