master/domain.c
author Florian Pose <fp@igh-essen.com>
Mon, 30 Jan 2012 09:54:50 +0100
branchredundancy
changeset 2355 6dd16bc8a858
parent 2269 1d0711235a61
child 2365 782f8b63c92c
permissions -rw-r--r--
Added e100 driver for 2.6.35.
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/******************************************************************************
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 *
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 *  $Id$
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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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/**
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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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#include "datagram_pair.h"
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/*****************************************************************************/
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void ec_domain_clear_data(ec_domain_t *);
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/*****************************************************************************/
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/** Domain constructor.
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 */
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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->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->datagram_pairs);
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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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/** Domain destructor.
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 */
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void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
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{
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    ec_datagram_pair_t *datagram_pair, *next_pair;
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    // dequeue and free datagrams
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    list_for_each_entry_safe(datagram_pair, next_pair,
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            &domain->datagram_pairs, list) {
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        ec_datagram_pair_clear(datagram_pair);
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        kfree(datagram_pair);
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    }
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    ec_domain_clear_data(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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    }
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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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    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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/** Allocates a domain datagram pair and appends it to the list.
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 *
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 * The datagrams' types and expected working counters are determined by the
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 * number of input and output fmmus that share the datagrams.
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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_pair(
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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_pair_t *datagram_pair;
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    int ret;
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    unsigned int i;
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    if (!(datagram_pair = kmalloc(sizeof(ec_datagram_pair_t), GFP_KERNEL))) {
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        EC_MASTER_ERR(domain->master,
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                "Failed to allocate domain datagram pair!\n");
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        return -ENOMEM;
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    }
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    ec_datagram_pair_init(datagram_pair);
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    /* backup datagram has its own memory */
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    ret = ec_datagram_prealloc(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
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            data_size);
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    if (ret) {
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        ec_datagram_pair_clear(datagram_pair);
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        kfree(datagram_pair);
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        return ret;
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    }
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    /* The ec_datagram_lxx() calls below can not fail, because either the
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     * datagram has external memory or it is preallocated. */
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    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
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        ec_datagram_lrw_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
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                logical_offset, data_size, data);
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        ec_datagram_lrw(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
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                logical_offset, data_size);
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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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        ec_datagram_lwr_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
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                logical_offset, data_size, data);
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        ec_datagram_lwr(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
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                logical_offset, data_size);
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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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        ec_datagram_lrd_ext(&datagram_pair->datagrams[EC_DEVICE_MAIN],
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                logical_offset, data_size, data);
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        ec_datagram_lrd(&datagram_pair->datagrams[EC_DEVICE_BACKUP],
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                logical_offset, data_size);
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        domain->expected_working_counter += used[EC_DIR_INPUT];
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    }
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    for (i = 0; i < EC_NUM_DEVICES; i++) {
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        snprintf(datagram_pair->datagrams[i].name, EC_DATAGRAM_NAME_SIZE,
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                "domain%u-%u-%s", domain->index, logical_offset,
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                i ? "backup" : "main");
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        ec_datagram_zero(&datagram_pair->datagrams[i]);
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    }
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    list_add_tail(&datagram_pair->list, &domain->datagram_pairs);
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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 Success
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 * \retval <0 Error code.
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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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        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_pair_t *datagram_pair;
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    int ret;
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   231
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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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    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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   252
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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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   258
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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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        // Increment Input/Output counter to determine datagram types
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        // and calculate expected working counters
1798
e7733f825982 Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
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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->data_size > EC_MAX_DATA_SIZE) {
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            ret = ec_domain_add_datagram_pair(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;
1798
e7733f825982 Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
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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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   291
        datagram_size += fmmu->data_size;
809
ec4ef8911824 External domain memory.
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   292
    }
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   293
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   294
    /* Allocate last datagram pair, if data are left (this is also the case if
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     * the process data fit into a single datagram) */
809
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   296
    if (datagram_size) {
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   297
        ret = ec_domain_add_datagram_pair(domain,
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   298
                domain->logical_base_address + datagram_offset,
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   299
                datagram_size, domain->data + datagram_offset,
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   300
                datagram_used);
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   301
        if (ret < 0)
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            return ret;
325
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   303
        datagram_count++;
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   304
    }
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   305
1921
d9cf40facbc4 Improved syslog macros.
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   306
    EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x,"
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diff changeset
   307
            " %zu byte, expected working counter %u.\n", domain->index,
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   308
            domain->logical_base_address, domain->data_size,
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   309
            domain->expected_working_counter);
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   311
    list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
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   312
        const ec_datagram_t *datagram =
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   313
            &datagram_pair->datagrams[EC_DEVICE_MAIN];
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d9cf40facbc4 Improved syslog macros.
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   314
        EC_MASTER_INFO(domain->master, "  Datagram %s: Logical offset 0x%08x,"
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   315
                " %zu byte, type %s.\n", datagram->name,
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   316
                EC_READ_U32(datagram->address), datagram->data_size,
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diff changeset
   317
                ec_datagram_type_string(datagram));
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   318
    }
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   319
325
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   320
    return 0;
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diff changeset
   321
}
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   322
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   323
/*****************************************************************************/
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   324
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   325
/** Get the number of FMMU configurations of the domain.
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   326
 */
950
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   327
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
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   328
{
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   329
    const ec_fmmu_config_t *fmmu;
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   330
    unsigned int num = 0;
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diff changeset
   331
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   332
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
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diff changeset
   333
        num++;
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diff changeset
   334
    }
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diff changeset
   335
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diff changeset
   336
    return num;
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diff changeset
   337
}
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   338
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   339
/*****************************************************************************/
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   340
1092
69393cf60399 Improved source code doc.
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   341
/** Get a certain FMMU configuration via its position in the list.
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   342
 */
950
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   343
const ec_fmmu_config_t *ec_domain_find_fmmu(
1092
69393cf60399 Improved source code doc.
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diff changeset
   344
        const ec_domain_t *domain, /**< EtherCAT domain. */
69393cf60399 Improved source code doc.
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diff changeset
   345
        unsigned int pos /**< List position. */
950
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diff changeset
   346
        )
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   347
{
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diff changeset
   348
    const ec_fmmu_config_t *fmmu;
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diff changeset
   349
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diff changeset
   350
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
1092
69393cf60399 Improved source code doc.
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diff changeset
   351
        if (pos--)
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
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diff changeset
   352
            continue;
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diff changeset
   353
        return fmmu;
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diff changeset
   354
    }
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diff changeset
   355
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diff changeset
   356
    return NULL;
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diff changeset
   357
}
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diff changeset
   358
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   359
/******************************************************************************
2269
1d0711235a61 Redundant outputs via datagram pairs.
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diff changeset
   360
 *  Application interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   361
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   362
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   363
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   364
        const ec_pdo_entry_reg_t *regs)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   365
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   366
    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
   367
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   368
    int ret;
2269
1d0711235a61 Redundant outputs via datagram pairs.
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diff changeset
   369
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   370
    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   371
            "domain = 0x%p, regs = 0x%p)\n", domain, regs);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   372
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   373
    for (reg = regs; reg->index; reg++) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   374
        sc = ecrt_master_slave_config_err(domain->master, reg->alias,
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1304
diff changeset
   375
                reg->position, reg->vendor_id, reg->product_code);
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1304
diff changeset
   376
        if (IS_ERR(sc))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   377
            return PTR_ERR(sc);
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1304
diff changeset
   378
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1304
diff changeset
   379
        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   380
                        reg->subindex, domain, reg->bit_position);
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   381
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   382
            return ret;
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   383
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   384
        *reg->offset = ret;
db73994fbdac Added bitwise Pdo registration.
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parents: 912
diff changeset
   385
    }
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   386
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   387
    return 0;
db73994fbdac Added bitwise Pdo registration.
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parents: 912
diff changeset
   388
}
db73994fbdac Added bitwise Pdo registration.
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parents: 912
diff changeset
   389
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   390
/*****************************************************************************/
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   391
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   392
size_t ecrt_domain_size(const ec_domain_t *domain)
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   393
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   394
    return domain->data_size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   395
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   396
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   397
/*****************************************************************************/
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
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
   400
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   401
    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory("
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   402
            "domain = 0x%p, mem = 0x%p)\n", domain, mem);
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   403
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   404
    down(&domain->master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   405
809
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;
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   410
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   411
    up(&domain->master->master_sem);
809
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
/*****************************************************************************/
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
uint8_t *ecrt_domain_data(ec_domain_t *domain)
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
    return domain->data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   419
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   420
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   421
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   422
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   423
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
   424
{
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   425
    uint16_t working_counter_sum;
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   426
    ec_datagram_pair_t *datagram_pair;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   427
    unsigned int i;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   428
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   429
    working_counter_sum = 0;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   430
    list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   431
        for (i = 0; i < EC_NUM_DEVICES; i++) {
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   432
            ec_datagram_t *datagram = &datagram_pair->datagrams[i];
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   433
            ec_datagram_output_stats(datagram);
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   434
            if (datagram->state == EC_DATAGRAM_RECEIVED) {
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   435
                working_counter_sum += datagram->working_counter;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   436
            }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   437
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   438
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   439
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   440
    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
   441
        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
   442
        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
   443
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   444
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   445
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   446
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   447
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   448
        if (domain->working_counter_changes == 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   449
            EC_MASTER_INFO(domain->master, "Domain %u: Working counter"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   450
                    " changed to %u/%u.\n", domain->index,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   451
                    domain->working_counter, domain->expected_working_counter);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   452
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   453
            EC_MASTER_INFO(domain->master, "Domain %u: %u working counter"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   454
                    " changes - now %u/%u.\n", domain->index,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   455
                    domain->working_counter_changes, domain->working_counter,
912
6630f4dbcfd2 Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents: 885
diff changeset
   456
                    domain->expected_working_counter);
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   457
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   458
        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
   459
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   460
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   461
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
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   464
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
   465
{
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   466
    ec_datagram_pair_t *datagram_pair;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   467
    unsigned int i;
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   468
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   469
    list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   470
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   471
        /* copy main data to backup datagram */
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   472
        memcpy(datagram_pair->datagrams[EC_DEVICE_BACKUP].data,
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   473
                datagram_pair->datagrams[EC_DEVICE_MAIN].data,
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   474
                datagram_pair->datagrams[EC_DEVICE_MAIN].data_size);
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   475
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   476
        for (i = 0; i < EC_NUM_DEVICES; i++) {
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   477
            ec_master_queue_datagram(domain->master,
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   478
                    &datagram_pair->datagrams[i], i);
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   479
        }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   480
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   481
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   482
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   483
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   484
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   485
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
   486
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   487
    state->working_counter = domain->working_counter;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   488
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   489
    if (domain->working_counter) {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   490
        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
   491
            state->wc_state = EC_WC_COMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   492
        } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   493
            state->wc_state = EC_WC_INCOMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   494
        }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   495
    } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   496
        state->wc_state = EC_WC_ZERO;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   497
    }
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   498
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   499
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   500
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   501
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   502
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   503
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   504
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   505
EXPORT_SYMBOL(ecrt_domain_size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   506
EXPORT_SYMBOL(ecrt_domain_external_memory);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   507
EXPORT_SYMBOL(ecrt_domain_data);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   508
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
   509
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
   510
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   512
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   513
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   514
/*****************************************************************************/