master/domain.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 13:15:10 +0200
branchstable-1.5
changeset 2552 6e419c23b1b3
parent 2522 ec403cf308eb
child 2532 bdadf6da4914
permissions -rw-r--r--
added ccat support for kernel 2.6.32
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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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/** Extra debug output for redundancy functions.
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 */
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#define DEBUG_REDUNDANCY 0
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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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    unsigned int dev_idx;
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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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    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
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            dev_idx++) {
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        domain->working_counter[dev_idx] = 0x0000;
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    }
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    domain->expected_working_counter = 0x0000;
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    domain->working_counter_changes = 0;
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    domain->redundancy_active = 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[] /**< Slave config counter for in/out. */
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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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    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;
144
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    }
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    ret = ec_datagram_pair_init(datagram_pair, domain, logical_offset, data,
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            data_size, used);
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    if (ret) {
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        kfree(datagram_pair);
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        return ret;
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    }
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    domain->expected_working_counter +=
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        datagram_pair->expected_working_counter;
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    EC_MASTER_DBG(domain->master, 1,
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            "Adding datagram pair with expected WC %u.\n",
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            datagram_pair->expected_working_counter);
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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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/** Domain finish helper function.
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 *
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 * Detects, if a slave configuration has already been taken into account for
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 * a datagram's expected working counter calculation.
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 *
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 * Walks through the list of all FMMU configurations for the current datagram
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 * and ends before the current datagram.
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 *
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 * \return Non-zero if slave connfig was already counted.
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 */
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int shall_count(
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        const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to
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                                            search for. */
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        const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */
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        )
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{
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    for (; first_fmmu != cur_fmmu;
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            first_fmmu = list_entry(first_fmmu->list.next,
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                ec_fmmu_config_t, list)) {
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        if (first_fmmu->sc == cur_fmmu->sc
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                && first_fmmu->dir == cur_fmmu->dir) {
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            return 0; // was already counted
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   208
        }
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   209
    }
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    return 1;
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   212
}
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/*****************************************************************************/
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792
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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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   222
 *
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 * \retval  0 Success
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 * \retval <0 Error code.
792
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 */
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   226
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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   229
        )
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{
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   231
    uint32_t datagram_offset;
809
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   232
    size_t datagram_size;
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   233
    unsigned int datagram_count;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
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   234
    unsigned int datagram_used[EC_DIR_COUNT];
792
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   235
    ec_fmmu_config_t *fmmu;
2366
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   236
    const ec_fmmu_config_t *datagram_first_fmmu = NULL;
2269
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   237
    const ec_datagram_pair_t *datagram_pair;
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   238
    int ret;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff changeset
   239
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   240
    domain->logical_base_address = base_address;
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   241
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   242
    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {
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   243
        if (!(domain->data =
ec4ef8911824 External domain memory.
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   244
                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {
1921
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   245
            EC_MASTER_ERR(domain->master, "Failed to allocate %zu bytes"
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diff changeset
   246
                    " internal memory for domain %u!\n",
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diff changeset
   247
                    domain->data_size, domain->index);
1313
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   248
            return -ENOMEM;
809
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   249
        }
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    }
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    // Cycle through all domain FMMUs and
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   253
    // - correct the logical base addresses
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    // - set up the datagrams to carry the process data
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    // - calculate the datagrams' expected working counters
809
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    datagram_offset = 0;
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   257
    datagram_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   258
    datagram_count = 0;
817
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   259
    datagram_used[EC_DIR_OUTPUT] = 0;
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   260
    datagram_used[EC_DIR_INPUT] = 0;
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   261
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   262
    if (!list_empty(&domain->fmmu_configs)) {
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        datagram_first_fmmu =
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            list_entry(domain->fmmu_configs.next, ec_fmmu_config_t, list);
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    }
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    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
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        // Correct logical FMMU address
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        fmmu->logical_start_address += base_address;
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        // Increment Input/Output counter to determine datagram types
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        // and calculate expected working counters
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        if (shall_count(fmmu, datagram_first_fmmu)) {
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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            datagram_used[fmmu->dir]++;
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        }
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        // If the current FMMU's data do not fit in the current datagram,
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        // allocate a new one.
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        if (datagram_size + fmmu->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;
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            datagram_first_fmmu = fmmu;
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        }
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        datagram_size += fmmu->data_size;
809
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   297
    }
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    /* 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) */
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   301
    if (datagram_size) {
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   302
        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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   305
                datagram_used);
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   306
        if (ret < 0)
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            return ret;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   308
        datagram_count++;
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   309
    }
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d9cf40facbc4 Improved syslog macros.
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   311
    EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x,"
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   312
            " %zu byte, expected working counter %u.\n", domain->index,
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   313
            domain->logical_base_address, domain->data_size,
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   314
            domain->expected_working_counter);
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    list_for_each_entry(datagram_pair, &domain->datagram_pairs, list) {
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   317
        const ec_datagram_t *datagram =
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   318
            &datagram_pair->datagrams[EC_DEVICE_MAIN];
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d9cf40facbc4 Improved syslog macros.
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   319
        EC_MASTER_INFO(domain->master, "  Datagram %s: Logical offset 0x%08x,"
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   320
                " %zu byte, type %s.\n", datagram->name,
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   321
                EC_READ_U32(datagram->address), datagram->data_size,
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diff changeset
   322
                ec_datagram_type_string(datagram));
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   323
    }
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   324
325
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   325
    return 0;
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diff changeset
   326
}
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   327
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   328
/*****************************************************************************/
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   329
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   330
/** Get the number of FMMU configurations of the domain.
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   331
 */
950
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   332
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
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diff changeset
   333
{
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   334
    const ec_fmmu_config_t *fmmu;
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   335
    unsigned int num = 0;
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   336
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   337
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
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diff changeset
   338
        num++;
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diff changeset
   339
    }
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   340
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diff changeset
   341
    return num;
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diff changeset
   342
}
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   343
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   344
/*****************************************************************************/
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   345
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69393cf60399 Improved source code doc.
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   346
/** Get a certain FMMU configuration via its position in the list.
2522
ec403cf308eb Updated Doxygen documentation.
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diff changeset
   347
 *
ec403cf308eb Updated Doxygen documentation.
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diff changeset
   348
 * \return FMMU at position \a pos, or NULL.
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   349
 */
950
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   350
const ec_fmmu_config_t *ec_domain_find_fmmu(
1092
69393cf60399 Improved source code doc.
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diff changeset
   351
        const ec_domain_t *domain, /**< EtherCAT domain. */
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   352
        unsigned int pos /**< List position. */
950
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diff changeset
   353
        )
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   354
{
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   355
    const ec_fmmu_config_t *fmmu;
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diff changeset
   356
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   357
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
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diff changeset
   358
        if (pos--)
950
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diff changeset
   359
            continue;
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diff changeset
   360
        return fmmu;
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diff changeset
   361
    }
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diff changeset
   362
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diff changeset
   363
    return NULL;
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diff changeset
   364
}
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   365
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
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   366
/*****************************************************************************/
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   367
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   368
#if EC_MAX_NUM_DEVICES > 1
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diff changeset
   369
2368
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   370
/** Process received data.
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   371
 */
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diff changeset
   372
int data_changed(
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diff changeset
   373
        uint8_t *send_buffer,
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   374
        const ec_datagram_t *datagram,
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diff changeset
   375
        size_t offset,
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diff changeset
   376
        size_t size
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diff changeset
   377
        )
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diff changeset
   378
{
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diff changeset
   379
    uint8_t *sent = send_buffer + offset;
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diff changeset
   380
    uint8_t *recv = datagram->data + offset;
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diff changeset
   381
    size_t i;
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diff changeset
   382
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
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parents: 2367
diff changeset
   383
    for (i = 0; i < size; i++) {
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
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parents: 2367
diff changeset
   384
        if (recv[i] != sent[i]) {
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diff changeset
   385
            return 1;
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diff changeset
   386
        }
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diff changeset
   387
    }
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diff changeset
   388
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diff changeset
   389
    return 0;
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parents: 2367
diff changeset
   390
}
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diff changeset
   391
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   392
#endif
d461b1f07296 Added configure option for redundancy (--with-devices).
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parents: 2374
diff changeset
   393
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   394
/******************************************************************************
2269
1d0711235a61 Redundant outputs via datagram pairs.
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diff changeset
   395
 *  Application interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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parents: 58
diff changeset
   396
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   397
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   398
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
   399
        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
   400
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   401
    const ec_pdo_entry_reg_t *reg;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   402
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   403
    int ret;
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   404
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   405
    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
   406
            "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
   407
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   408
    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
   409
        sc = ecrt_master_slave_config_err(domain->master, reg->alias,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   410
                reg->position, reg->vendor_id, reg->product_code);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   411
        if (IS_ERR(sc))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   412
            return PTR_ERR(sc);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   413
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   414
        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
   415
                        reg->subindex, domain, reg->bit_position);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   416
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   417
            return ret;
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   418
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   419
        *reg->offset = ret;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   420
    }
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   421
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   422
    return 0;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   423
}
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   424
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   425
/*****************************************************************************/
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   426
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   427
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
   428
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   429
    return domain->data_size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   430
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   431
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   432
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   433
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   434
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
   435
{
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   436
    EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory("
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   437
            "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
   438
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
   439
    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
   440
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   441
    ec_domain_clear_data(domain);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   442
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   443
    domain->data = mem;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   444
    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
   445
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
   446
    up(&domain->master->master_sem);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   447
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   448
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   449
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   450
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   451
uint8_t *ecrt_domain_data(ec_domain_t *domain)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   452
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   453
    return domain->data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   454
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   455
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   456
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   457
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   458
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
   459
{
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   460
    uint16_t wc_sum[EC_MAX_NUM_DEVICES] = {}, wc_total;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   461
    ec_datagram_pair_t *pair;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   462
#if EC_MAX_NUM_DEVICES > 1
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   463
    uint16_t datagram_pair_wc, redundant_wc;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   464
    unsigned int datagram_offset;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   465
    ec_fmmu_config_t *fmmu = list_first_entry(&domain->fmmu_configs,
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   466
            ec_fmmu_config_t, list);
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   467
    unsigned int redundancy;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   468
#endif
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   469
    unsigned int dev_idx, wc_change;
2367
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   470
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   471
#if DEBUG_REDUNDANCY
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   472
    EC_MASTER_DBG(domain->master, 1, "domain %u process\n", domain->index);
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   473
#endif
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   474
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   475
    list_for_each_entry(pair, &domain->datagram_pairs, list) {
2463
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   476
#if EC_MAX_NUM_DEVICES > 1
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   477
        datagram_pair_wc = ec_datagram_pair_process(pair, wc_sum);
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   478
#else
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   479
        ec_datagram_pair_process(pair, wc_sum);
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   480
#endif
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   481
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   482
#if EC_MAX_NUM_DEVICES > 1
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   483
        if (ec_master_num_devices(domain->master) > 1) {
2463
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   484
            ec_datagram_t *main_datagram = &pair->datagrams[EC_DEVICE_MAIN];
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   485
            uint32_t logical_datagram_address =
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   486
                EC_READ_U32(main_datagram->address);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   487
            size_t datagram_size = main_datagram->data_size;
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   488
2367
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   489
#if DEBUG_REDUNDANCY
2463
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   490
            EC_MASTER_DBG(domain->master, 1, "dgram %s log=%u\n",
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   491
                    main_datagram->name, logical_datagram_address);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   492
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   493
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   494
            /* Redundancy: Go through FMMU configs to detect data changes. */
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   495
            list_for_each_entry_from(fmmu, &domain->fmmu_configs, list) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   496
                ec_datagram_t *backup_datagram =
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   497
                    &pair->datagrams[EC_DEVICE_BACKUP];
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   498
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   499
                if (fmmu->dir != EC_DIR_INPUT) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   500
                    continue;
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   501
                }
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   502
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   503
                if (fmmu->logical_start_address >=
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   504
                        logical_datagram_address + datagram_size) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   505
                    // fmmu data contained in next datagram pair
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   506
                    break;
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   507
                }
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   508
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   509
                datagram_offset =
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   510
                    fmmu->logical_start_address - logical_datagram_address;
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   511
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   512
#if DEBUG_REDUNDANCY
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   513
                EC_MASTER_DBG(domain->master, 1,
2463
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   514
                        "input fmmu log=%u size=%u offset=%u\n",
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   515
                        fmmu->logical_start_address, fmmu->data_size,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   516
                        datagram_offset);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   517
                if (domain->master->debug_level > 0) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   518
                    ec_print_data(pair->send_buffer + datagram_offset,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   519
                            fmmu->data_size);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   520
                    ec_print_data(main_datagram->data + datagram_offset,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   521
                            fmmu->data_size);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   522
                    ec_print_data(backup_datagram->data + datagram_offset,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   523
                            fmmu->data_size);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   524
                }
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   525
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   526
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   527
                if (data_changed(pair->send_buffer, main_datagram,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   528
                            datagram_offset, fmmu->data_size)) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   529
                    /* data changed on main link: no copying necessary. */
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   530
#if DEBUG_REDUNDANCY
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   531
                    EC_MASTER_DBG(domain->master, 1, "main changed\n");
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   532
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   533
                } else if (data_changed(pair->send_buffer, backup_datagram,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   534
                            datagram_offset, fmmu->data_size)) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   535
                    /* data changed on backup link: copy to main memory. */
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   536
#if DEBUG_REDUNDANCY
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   537
                    EC_MASTER_DBG(domain->master, 1, "backup changed\n");
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   538
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   539
                    memcpy(main_datagram->data + datagram_offset,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   540
                            backup_datagram->data + datagram_offset,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   541
                            fmmu->data_size);
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   542
                } else if (datagram_pair_wc ==
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   543
                        pair->expected_working_counter) {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   544
                    /* no change, but WC complete: use main data. */
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   545
#if DEBUG_REDUNDANCY
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   546
                    EC_MASTER_DBG(domain->master, 1,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   547
                            "no change but complete\n");
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   548
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   549
                } else {
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   550
                    /* no change and WC incomplete: mark WC as zero to avoid
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   551
                     * data.dependent WC flickering. */
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   552
                    datagram_pair_wc = 0;
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   553
#if DEBUG_REDUNDANCY
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   554
                    EC_MASTER_DBG(domain->master, 1,
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   555
                            "no change and incomplete\n");
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   556
#endif
71d38ff288b3 Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
   557
                }
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   558
            }
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   559
        }
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   560
#endif // EC_MAX_NUM_DEVICES > 1
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   561
    }
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   562
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   563
#if EC_MAX_NUM_DEVICES > 1
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   564
    redundant_wc = 0;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   565
    for (dev_idx = EC_DEVICE_BACKUP;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   566
            dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   567
        redundant_wc += wc_sum[dev_idx];
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   568
    }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   569
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   570
    redundancy = redundant_wc > 0;
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   571
    if (redundancy != domain->redundancy_active) {
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   572
        if (redundancy) {
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   573
            EC_MASTER_WARN(domain->master,
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   574
                    "Domain %u: Redundant link in use!\n",
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   575
                    domain->index);
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   576
        } else {
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   577
            EC_MASTER_INFO(domain->master,
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   578
                    "Domain %u: Redundant link unused again.\n",
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   579
                    domain->index);
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   580
        }
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   581
        domain->redundancy_active = redundancy;
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   582
    }
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   583
#else
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   584
    domain->redundancy_active = 0;
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   585
#endif
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   586
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   587
    wc_change = 0;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   588
    wc_total = 0;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   589
    for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   590
            dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   591
        if (wc_sum[dev_idx] != domain->working_counter[dev_idx]) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   592
            wc_change = 1;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   593
            domain->working_counter[dev_idx] = wc_sum[dev_idx];
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   594
        }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   595
        wc_total += wc_sum[dev_idx];
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   596
    }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   597
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   598
    if (wc_change) {
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   599
        domain->working_counter_changes++;
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   600
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   601
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   602
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   603
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   604
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   605
        if (domain->working_counter_changes == 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   606
            EC_MASTER_INFO(domain->master, "Domain %u: Working counter"
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   607
                    " changed to %u/%u", domain->index,
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   608
                    wc_total, domain->expected_working_counter);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   609
        } else {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   610
            EC_MASTER_INFO(domain->master, "Domain %u: %u working counter"
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   611
                    " changes - now %u/%u", domain->index,
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   612
                    domain->working_counter_changes,
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   613
                    wc_total, domain->expected_working_counter);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   614
        }
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   615
#if EC_MAX_NUM_DEVICES > 1
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   616
        if (ec_master_num_devices(domain->master) > 1) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   617
            printk(" (");
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   618
            for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   619
                    dev_idx < ec_master_num_devices(domain->master);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   620
                    dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   621
                printk("%u", domain->working_counter[dev_idx]);
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   622
                if (dev_idx + 1 < ec_master_num_devices(domain->master)) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   623
                    printk("+");
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   624
                }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   625
            }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   626
            printk(")");
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   627
        }
2470
4f97d61a8671 Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents: 2468
diff changeset
   628
#endif
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   629
        printk(".\n");
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   630
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   631
        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
   632
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   633
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   634
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   635
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   636
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   637
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
   638
{
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   639
    ec_datagram_pair_t *datagram_pair;
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2368
diff changeset
   640
    ec_device_index_t dev_idx;
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   641
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   642
    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
   643
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   644
#if EC_MAX_NUM_DEVICES > 1
2367
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   645
        /* copy main data to send buffer */
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   646
        memcpy(datagram_pair->send_buffer,
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   647
                datagram_pair->datagrams[EC_DEVICE_MAIN].data,
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   648
                datagram_pair->datagrams[EC_DEVICE_MAIN].data_size);
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   649
#endif
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   650
        ec_master_queue_datagram(domain->master,
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   651
                &datagram_pair->datagrams[EC_DEVICE_MAIN]);
2367
8527429b6137 Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents: 2366
diff changeset
   652
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   653
        /* copy main data to backup datagram */
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   654
        for (dev_idx = EC_DEVICE_BACKUP;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   655
                dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   656
            memcpy(datagram_pair->datagrams[dev_idx].data,
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   657
                    datagram_pair->datagrams[EC_DEVICE_MAIN].data,
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   658
                    datagram_pair->datagrams[EC_DEVICE_MAIN].data_size);
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   659
            ec_master_queue_datagram(domain->master,
2374
e898451c054a Slave scanning and configuration on all links.
Florian Pose <fp@igh-essen.com>
parents: 2368
diff changeset
   660
                    &datagram_pair->datagrams[dev_idx]);
2269
1d0711235a61 Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents: 2268
diff changeset
   661
        }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   662
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   663
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   664
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   665
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   666
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   667
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
   668
{
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   669
    unsigned int dev_idx;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   670
    uint16_t wc = 0;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   671
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   672
    for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   673
            dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   674
        wc += domain->working_counter[dev_idx];
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   675
    }
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   676
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2374
diff changeset
   677
    state->working_counter = wc;
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   678
2468
3134b7255f3d Minor change.
Florian Pose <fp@igh-essen.com>
parents: 2463
diff changeset
   679
    if (wc) {
3134b7255f3d Minor change.
Florian Pose <fp@igh-essen.com>
parents: 2463
diff changeset
   680
        if (wc == domain->expected_working_counter) {
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   681
            state->wc_state = EC_WC_COMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   682
        } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   683
            state->wc_state = EC_WC_INCOMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   684
        }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   685
    } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   686
        state->wc_state = EC_WC_ZERO;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   687
    }
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   688
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2367
diff changeset
   689
    state->redundancy_active = domain->redundancy_active;
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   690
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   691
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   692
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   693
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   694
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   695
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   696
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   697
EXPORT_SYMBOL(ecrt_domain_size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   698
EXPORT_SYMBOL(ecrt_domain_external_memory);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   699
EXPORT_SYMBOL(ecrt_domain_data);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   700
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
   701
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
   702
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   704
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   705
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   706
/*****************************************************************************/