master/domain.c
author Florian Pose <fp@igh-essen.com>
Mon, 26 Jan 2009 11:51:53 +0000
changeset 1331 7cd33a77f926
parent 1326 ef907b0b5125
child 1363 11c0b2caa253
permissions -rw-r--r--
merge -c1609 branches/stable-1.4: INSTALL, README.
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     6
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    11
 *  published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    12
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    16
 *  Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    17
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    21
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    22
 *  Using the EtherCAT technology and brand is permitted in compliance with
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    23
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    24
 *
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    27
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    28
   \file
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    29
   EtherCAT domain methods.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    30
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    31
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    32
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    33
294
feea8d850c65 Applied include patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
    34
#include <linux/module.h>
feea8d850c65 Applied include patch by M. Schwerin.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
    35
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
    36
#include "globals.h"
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    37
#include "master.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    38
#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    39
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
    40
#include "domain.h"
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    41
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    42
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
    43
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    44
void ec_domain_clear_data(ec_domain_t *);
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    45
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    46
/*****************************************************************************/
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    47
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    48
/** Domain constructor.
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    49
 */
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    50
void ec_domain_init(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    51
        ec_domain_t *domain, /**< EtherCAT domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    52
        ec_master_t *master, /**< Parent master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    53
        unsigned int index /**< Index. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
    54
        )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    55
{
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    56
    domain->master = master;
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
Florian Pose <fp@igh-essen.com>
parents: 166
diff changeset
    57
    domain->index = index;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    58
    INIT_LIST_HEAD(&domain->fmmu_configs);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    59
    domain->data_size = 0;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    60
    domain->data = NULL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    61
    domain->data_origin = EC_ORIG_INTERNAL;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    62
    domain->logical_base_address = 0x00000000;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    63
    INIT_LIST_HEAD(&domain->datagrams);
1032
748c34ab66b6 working_counter = 0x0000;
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
    64
    domain->working_counter = 0x0000;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
    65
    domain->expected_working_counter = 0x0000;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
    66
    domain->working_counter_changes = 0;
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
    67
    domain->notify_jiffies = 0;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    68
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    69
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    70
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    71
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
    72
/** Domain destructor.
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    73
 */
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    74
void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    75
{
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    76
    ec_datagram_t *datagram, *next;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    77
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    78
    // dequeue and free datagrams
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    79
    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
    80
        if (!list_empty(&datagram->queue)) // datagram queued?
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
    81
            list_del(&datagram->queue);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
    82
        ec_datagram_clear(datagram);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
    83
        kfree(datagram);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
    84
    }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
    85
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    86
    ec_domain_clear_data(domain);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    87
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    88
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    89
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
    90
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    91
/** Frees internally allocated memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    92
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    93
void ec_domain_clear_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    94
        ec_domain_t *domain /**< EtherCAT domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    95
        )
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    96
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    97
    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    98
        kfree(domain->data);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
    99
    domain->data = NULL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   100
    domain->data_origin = EC_ORIG_INTERNAL;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   101
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   102
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   103
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   104
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   105
/** Adds an FMMU configuration to the domain.
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   106
 */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   107
void ec_domain_add_fmmu_config(
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   108
        ec_domain_t *domain, /**< EtherCAT domain. */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   109
        ec_fmmu_config_t *fmmu /**< FMMU configuration. */
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   110
        )
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   111
{
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   112
    fmmu->domain = domain;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   113
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   114
    domain->data_size += fmmu->data_size;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   115
    list_add_tail(&fmmu->list, &domain->fmmu_configs);
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
   116
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
   117
    if (domain->master->debug_level)
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   118
        EC_DBG("Domain %u: Added %u bytes, total %u.\n", domain->index,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   119
                fmmu->data_size, domain->data_size);
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   120
}
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   121
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   122
/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   123
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   124
/** Allocates a domain datagram and appends it to the list.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   125
 *
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   126
 * The datagram type and expected working counters are determined by the
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   127
 * number of input and output fmmus that share the datagram.
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   128
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   129
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   130
 * \retval <0 Error code.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   131
 */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   132
int ec_domain_add_datagram(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   133
        ec_domain_t *domain, /**< EtherCAT domain. */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   134
        uint32_t logical_offset, /**< Logical offset. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   135
        size_t data_size, /**< Size of the data. */
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   136
        uint8_t *data, /**< Process data. */
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   137
        const unsigned int used[] /**< Used by inputs/outputs. */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   138
        )
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   139
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   140
    ec_datagram_t *datagram;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   141
    int ret;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   142
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   143
    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   144
        EC_ERR("Failed to allocate domain datagram!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   145
        return -ENOMEM;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   146
    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   147
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   148
    ec_datagram_init(datagram);
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   149
    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   150
            "domain%u-%u", domain->index, logical_offset);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   151
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   152
    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   153
        ret = ec_datagram_lrw(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   154
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   155
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   156
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   157
        }
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   158
        // If LRW is used, output FMMUs increment the working counter by 2,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   159
        // while input FMMUs increment it by 1.
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   160
        domain->expected_working_counter +=
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   161
            used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   162
    } else if (used[EC_DIR_OUTPUT]) { // outputs only
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   163
        ret = ec_datagram_lwr(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   164
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   165
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   166
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   167
        }
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   168
        domain->expected_working_counter += used[EC_DIR_OUTPUT];
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   169
    } else { // inputs only (or nothing)
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   170
        ret = ec_datagram_lrd(datagram, logical_offset, data_size, data);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   171
        if (ret < 0) {
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   172
            kfree(datagram);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   173
            return ret;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   174
        }
1304
853c83c72f44 merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   175
        domain->expected_working_counter += used[EC_DIR_INPUT];
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   176
    }
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   177
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
   178
    ec_datagram_zero(datagram);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   179
    list_add_tail(&datagram->list, &domain->datagrams);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   180
    return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   181
}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   182
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   183
/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 138
diff changeset
   184
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   185
/** Finishes a domain.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   186
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   187
 * This allocates the necessary datagrams and writes the correct logical
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   188
 * addresses to every configured FMMU.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   189
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   190
 * \todo Check for FMMUs that do not fit into any datagram.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   191
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   192
 * \retval  0 Success
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   193
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   194
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   195
int ec_domain_finish(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   196
        ec_domain_t *domain, /**< EtherCAT domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   197
        uint32_t base_address /**< Logical base address. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   198
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   199
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   200
    uint32_t datagram_offset;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   201
    size_t datagram_size;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   202
    unsigned int datagram_count;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1032
diff changeset
   203
    unsigned int datagram_used[EC_DIR_COUNT];
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   204
    ec_fmmu_config_t *fmmu;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   205
    const ec_datagram_t *datagram;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   206
    int ret;
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   207
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   208
    domain->logical_base_address = base_address;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   209
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   210
    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   211
        if (!(domain->data =
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   212
                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   213
            EC_ERR("Failed to allocate %u bytes internal memory for"
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   214
                    " domain %u!\n", domain->data_size, domain->index);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   215
            return -ENOMEM;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   216
        }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   217
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   218
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   219
    // Cycle through all domain FMMUS and
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   220
    // - correct the logical base addresses
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   221
    // - set up the datagrams to carry the process data
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   222
    datagram_offset = 0;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   223
    datagram_size = 0;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   224
    datagram_count = 0;
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   225
    datagram_used[EC_DIR_OUTPUT] = 0;
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   226
    datagram_used[EC_DIR_INPUT] = 0;
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   227
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   228
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   229
        // Correct logical FMMU address
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   230
        fmmu->logical_start_address += base_address;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   231
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   232
        // Increment Input/Output counter to determine datagram types
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   233
        // and calculate expected working counters
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   234
        datagram_used[fmmu->dir]++;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   235
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   236
        // If the current FMMU's data do not fit in the current datagram,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   237
        // allocate a new one.
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   238
        if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   239
            ret = ec_domain_add_datagram(domain,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   240
                    domain->logical_base_address + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   241
                    datagram_size, domain->data + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   242
                    datagram_used);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   243
            if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   244
                return ret;
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   245
            datagram_offset += datagram_size;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   246
            datagram_size = 0;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   247
            datagram_count++;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   248
            datagram_used[EC_DIR_OUTPUT] = 0;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   249
            datagram_used[EC_DIR_INPUT] = 0;
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   250
        }
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   251
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   252
        datagram_size += fmmu->data_size;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   253
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   254
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
   255
    // Allocate last datagram, if data are left (this is also the case if the
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 985
diff changeset
   256
    // process data fit into a single datagram)
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   257
    if (datagram_size) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   258
        ret = ec_domain_add_datagram(domain,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   259
                domain->logical_base_address + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   260
                datagram_size, domain->data + datagram_offset,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   261
                datagram_used);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   262
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   263
            return ret;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   264
        datagram_count++;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   265
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   266
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   267
    EC_INFO("Domain%u: Logical address 0x%08x, %u byte, "
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   268
            "expected working counter %u.\n", domain->index,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   269
            domain->logical_base_address, domain->data_size,
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   270
            domain->expected_working_counter);
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   271
    list_for_each_entry(datagram, &domain->datagrams, list) {
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   272
        EC_INFO("  Datagram %s: Logical offset 0x%08x, %u byte, type %s.\n",
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   273
                datagram->name, EC_READ_U32(datagram->address),
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   274
                datagram->data_size, ec_datagram_type_string(datagram));
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   275
    }
118dea2fa505 Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   276
    
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   277
    return 0;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   278
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   279
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   280
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   281
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   282
/** Get the number of FMMU configurations of the domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   283
 */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   284
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   285
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   286
    const ec_fmmu_config_t *fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   287
    unsigned int num = 0;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   288
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   289
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   290
        num++;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   291
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   292
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   293
    return num;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   294
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   295
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   296
/*****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   297
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   298
/** Get a certain FMMU configuration via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   299
 */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   300
const ec_fmmu_config_t *ec_domain_find_fmmu(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   301
        const ec_domain_t *domain, /**< EtherCAT domain. */
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   302
        unsigned int pos /**< List position. */
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   303
        )
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   304
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   305
    const ec_fmmu_config_t *fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   306
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   307
    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   308
        if (pos--)
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   309
            continue;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   310
        return fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   311
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   312
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   313
    return NULL;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   314
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 944
diff changeset
   315
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   316
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 184
diff changeset
   317
 *  Realtime interface
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   318
 *****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   319
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   320
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
   321
        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
   322
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   323
    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
   324
    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
   325
    int ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   326
    
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   327
    if (domain->master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   328
        EC_DBG("ecrt_domain_reg_pdo_entry_list(domain = 0x%x, regs = 0x%x)\n",
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   329
                (u32) domain, (u32) regs);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   330
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   331
    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
   332
        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
   333
                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
   334
        if (IS_ERR(sc))
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   335
            return PTR_ERR(sc);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   336
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   337
        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
   338
                        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
   339
        if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1304
diff changeset
   340
            return ret;
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   341
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   342
        *reg->offset = ret;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   343
    }
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   344
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   345
    return 0;
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   346
}
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   347
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   348
/*****************************************************************************/
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 912
diff changeset
   349
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1225
diff changeset
   350
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
   351
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   352
    return domain->data_size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   353
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   354
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   355
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   356
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   357
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
   358
{
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   359
    if (domain->master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   360
        EC_DBG("ecrt_domain_external_memory(domain = 0x%x, mem = 0x%x)\n",
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   361
                (u32) domain, (u32) mem);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1116
diff changeset
   362
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
   363
    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
   364
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   365
    ec_domain_clear_data(domain);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   366
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   367
    domain->data = mem;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   368
    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
   369
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
   370
    up(&domain->master->master_sem);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   371
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   372
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   373
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   374
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   375
uint8_t *ecrt_domain_data(ec_domain_t *domain)
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   376
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   377
    return domain->data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   378
}
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   379
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   380
/*****************************************************************************/
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   381
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   382
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
   383
{
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   384
    uint16_t working_counter_sum;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   385
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   386
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   387
    working_counter_sum = 0x0000;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   388
    list_for_each_entry(datagram, &domain->datagrams, list) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   389
        ec_datagram_output_stats(datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 315
diff changeset
   390
        if (datagram->state == EC_DATAGRAM_RECEIVED) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
   391
            working_counter_sum += datagram->working_counter;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   392
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 97
diff changeset
   393
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   394
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   395
    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
   396
        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
   397
        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
   398
    }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   399
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   400
    if (domain->working_counter_changes &&
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   401
        jiffies - domain->notify_jiffies > HZ) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 343
diff changeset
   402
        domain->notify_jiffies = jiffies;
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   403
        if (domain->working_counter_changes == 1) {
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
   404
            EC_INFO("Domain %u: Working counter changed to %u/%u.\n",
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
   405
                    domain->index, domain->working_counter,
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
   406
                    domain->expected_working_counter);
985
90bcaf9ce3d5 Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   407
        } else {
1116
3f2df83335b8 Improved WC changes message.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   408
            EC_INFO("Domain %u: %u working counter changes - now %u/%u.\n",
3f2df83335b8 Improved WC changes message.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   409
                    domain->index, domain->working_counter_changes,
3f2df83335b8 Improved WC changes message.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   410
                    domain->working_counter, domain->expected_working_counter);
332
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   411
        }
e16093374dfd New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   412
        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
   413
    }
494
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   414
}
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   415
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   416
/*****************************************************************************/
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   417
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   418
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
   419
{
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   420
    ec_datagram_t *datagram;
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   421
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   422
    list_for_each_entry(datagram, &domain->datagrams, list) {
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   423
        ec_master_queue_datagram(domain->master, datagram);
178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   424
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   425
}
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   426
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   427
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 58
diff changeset
   428
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   429
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
   430
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   431
    state->working_counter = domain->working_counter;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   432
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   433
    if (domain->working_counter) {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   434
        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
   435
            state->wc_state = EC_WC_COMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   436
        } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   437
            state->wc_state = EC_WC_INCOMPLETE;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   438
        }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   439
    } else {
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   440
        state->wc_state = EC_WC_ZERO;
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 817
diff changeset
   441
    }
105
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   442
}
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   443
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   444
/*****************************************************************************/
fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   445
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   446
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   447
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 783
diff changeset
   448
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   449
EXPORT_SYMBOL(ecrt_domain_size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   450
EXPORT_SYMBOL(ecrt_domain_external_memory);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   451
EXPORT_SYMBOL(ecrt_domain_data);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
   452
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
   453
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
   454
EXPORT_SYMBOL(ecrt_domain_state);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   456
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   457
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   458
/*****************************************************************************/