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

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 *

     3

 *  $Id$

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 *

     5

 *  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.

    33

*/

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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

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

    50

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

    75

    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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    domain->data = NULL;

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    domain->data_origin = EC_ORIG_INTERNAL;

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}

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   105

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

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   107

/** 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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   116

    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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   120

    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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   125

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

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   127

/** 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[] /**< Used by inputs/outputs. */

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

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   190

/** 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.

   199

 */

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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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    ec_fmmu_config_t *fmmu_temp;

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    const ec_datagram_t *datagram;

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    int ret;

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   214

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

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        // we have to remove the constness, sorry FIXME

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        ec_slave_config_t *sc = (ec_slave_config_t *) fmmu_temp->sc;

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        sc->used_for_fmmu_datagram[fmmu_temp->dir] = 0;

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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 (fmmu->sc->used_for_fmmu_datagram[fmmu->dir] == 0) {

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            ec_slave_config_t *sc = (ec_slave_config_t *)fmmu->sc;

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            datagram_used[fmmu->dir]++;

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            sc->used_for_fmmu_datagram[fmmu->dir] = 1;

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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);

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

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                ec_slave_config_t *sc = (ec_slave_config_t *)fmmu_temp->sc;

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               sc->used_for_fmmu_datagram[fmmu_temp->dir] = 0;

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            }

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        }

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        datagram_size += fmmu->tx_size;

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    }

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    // 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);

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        if (ret < 0)

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            return ret;

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        datagram_count++;

   287

    }

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   289

    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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   300

    return 0;

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}

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   303

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

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   305

/** 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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{

   309

    const ec_fmmu_config_t *fmmu;

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    unsigned int num = 0;

   311

   312

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

   313

        num++;

   314

    }

   315

   316

    return num;

   317

}

   318

   319

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

   320

   321

/** 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. */

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        )

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{

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    const ec_fmmu_config_t *fmmu;

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   330

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

   331

        if (pos--)

   332

            continue;

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        return fmmu;

   334

    }

   335

   336

    return NULL;

   337

}

   338

   339

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

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 *  Realtime interface

   341

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

   342

   343

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,

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        const ec_pdo_entry_reg_t *regs)

   345

{

   346

    const ec_pdo_entry_reg_t *reg;

   347

    ec_slave_config_t *sc;

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    int ret;

   349

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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);

   352

   353

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

   354

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

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

   356

        if (IS_ERR(sc))

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            return PTR_ERR(sc);

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   359

        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,

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

   361

        if (ret < 0)

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            return ret;

   363

   364

        *reg->offset = ret;

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    }

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   367

    return 0;

   368

}

   369

   370

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

   371

   372

size_t ecrt_domain_size(const ec_domain_t *domain)

   373

{

   374

    return domain->data_size;

   375

}

   376

   377

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

   378

   379

void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)

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{

   381

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

   382

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

   383

   384

    down(&domain->master->master_sem);

   385

   386

    ec_domain_clear_data(domain);

   387

   388

    domain->data = mem;

   389

    domain->data_origin = EC_ORIG_EXTERNAL;

   390

   391

    up(&domain->master->master_sem);

   392

}

   393

   394

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

   395

   396

uint8_t *ecrt_domain_data(ec_domain_t *domain)

   397

{

   398

    return domain->data;

   399

}

   400

   401

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

   402

   403

void ecrt_domain_process(ec_domain_t *domain)

   404

{

   405

    uint16_t working_counter_sum;

   406

    ec_datagram_t *datagram;

   407

   408

    working_counter_sum = 0x0000;

   409

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

   410

        ec_datagram_output_stats(datagram);

   411

        if (datagram->state == EC_DATAGRAM_RECEIVED) {

   412

            working_counter_sum += datagram->working_counter;

   413

        }

   414

    }

   415

   416

    if (working_counter_sum != domain->working_counter) {

   417

        domain->working_counter_changes++;

   418

        domain->working_counter = working_counter_sum;

   419

    }

   420

   421

    if (domain->working_counter_changes &&

   422

        jiffies - domain->notify_jiffies > HZ) {

   423

        domain->notify_jiffies = jiffies;

   424

        if (domain->working_counter_changes == 1) {

   425

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

   426

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

   427

                    domain->working_counter, domain->expected_working_counter);

   428

        } else {

   429

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

   430

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

   431

                    domain->working_counter_changes, domain->working_counter,

   432

                    domain->expected_working_counter);

   433

        }

   434

        domain->working_counter_changes = 0;

   435

    }

   436

}

   437

   438

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

   439

   440

void ecrt_domain_queue(ec_domain_t *domain)

   441

{

   442

    ec_datagram_t *datagram;

   443

   444

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

   445

        ec_master_queue_datagram(domain->master, datagram);

   446

    }

   447

}

   448

   449

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

   450

   451

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

   452

{

   453

    state->working_counter = domain->working_counter;

   454

   455

    if (domain->working_counter) {

   456

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

   457

            state->wc_state = EC_WC_COMPLETE;

   458

        } else {

   459

            state->wc_state = EC_WC_INCOMPLETE;

   460

        }

   461

    } else {

   462

        state->wc_state = EC_WC_ZERO;

   463

    }

   464

}

   465

   466

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

   467

   468

/** \cond */

   469

   470

EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);

   471

EXPORT_SYMBOL(ecrt_domain_size);

   472

EXPORT_SYMBOL(ecrt_domain_external_memory);

   473

EXPORT_SYMBOL(ecrt_domain_data);

   474

EXPORT_SYMBOL(ecrt_domain_process);

   475

EXPORT_SYMBOL(ecrt_domain_queue);

   476

EXPORT_SYMBOL(ecrt_domain_state);

   477

   478

/** \endcond */

   479

   480

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