author | Florian Pose <fp@igh-essen.com> |
Thu, 06 Dec 2012 13:54:09 +0100 | |
branch | stable-1.5 |
changeset 2480 | 8b1e26cc88ac |
parent 2470 | 4f97d61a8671 |
child 2522 | ec403cf308eb |
permissions | -rw-r--r-- |
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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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#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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/*****************************************************************************/ |
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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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122 |
ec_fmmu_config_t *fmmu /**< FMMU configuration. */ |
b6c87ae254c9
Calculate expected working counter for domains.
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diff
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|
123 |
) |
b6c87ae254c9
Calculate expected working counter for domains.
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diff
changeset
|
124 |
{ |
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diff
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|
125 |
fmmu->domain = domain; |
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diff
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|
126 |
|
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diff
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|
127 |
domain->data_size += fmmu->data_size; |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
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diff
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|
128 |
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.
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|
129 |
|
1921 | 130 |
EC_MASTER_DBG(domain->master, 1, "Domain %u:" |
131 |
" Added %u bytes, total %zu.\n", |
|
132 |
domain->index, fmmu->data_size, domain->data_size); |
|
818
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|
133 |
} |
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changeset
|
134 |
|
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diff
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|
135 |
/*****************************************************************************/ |
b6c87ae254c9
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parents:
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diff
changeset
|
136 |
|
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|
137 |
/** Allocates a domain datagram pair and appends it to the list. |
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|
138 |
* |
1d0711235a61
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|
139 |
* The datagrams' types and expected working counters are determined by the |
1d0711235a61
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|
140 |
* number of input and output fmmus that share the datagrams. |
985
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diff
changeset
|
141 |
* |
1313
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|
142 |
* \retval 0 Success. |
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|
143 |
* \retval <0 Error code. |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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changeset
|
144 |
*/ |
2269
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|
145 |
int ec_domain_add_datagram_pair( |
792
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|
146 |
ec_domain_t *domain, /**< EtherCAT domain. */ |
809 | 147 |
uint32_t logical_offset, /**< Logical offset. */ |
148 |
size_t data_size, /**< Size of the data. */ |
|
817
118dea2fa505
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|
149 |
uint8_t *data, /**< Process data. */ |
2366
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|
150 |
const unsigned int used[] /**< Slave config counter for in/out. */ |
635
d304ef4af542
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diff
changeset
|
151 |
) |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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diff
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|
152 |
{ |
2269
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|
153 |
ec_datagram_pair_t *datagram_pair; |
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|
154 |
int ret; |
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|
155 |
|
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|
156 |
if (!(datagram_pair = kmalloc(sizeof(ec_datagram_pair_t), GFP_KERNEL))) { |
1921 | 157 |
EC_MASTER_ERR(domain->master, |
2269
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|
158 |
"Failed to allocate domain datagram pair!\n"); |
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|
159 |
return -ENOMEM; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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|
160 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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|
161 |
|
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|
162 |
ret = ec_datagram_pair_init(datagram_pair, domain, logical_offset, data, |
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|
163 |
data_size, used); |
2269
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|
164 |
if (ret) { |
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|
165 |
kfree(datagram_pair); |
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|
166 |
return ret; |
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|
167 |
} |
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changeset
|
168 |
|
2367
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|
169 |
domain->expected_working_counter += |
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|
170 |
datagram_pair->expected_working_counter; |
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changeset
|
171 |
|
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|
172 |
EC_MASTER_DBG(domain->master, 1, |
8527429b6137
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changeset
|
173 |
"Adding datagram pair with expected WC %u.\n", |
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
174 |
datagram_pair->expected_working_counter); |
8527429b6137
Compare with send buffer; copy changed data.
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changeset
|
175 |
|
2269
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changeset
|
176 |
|
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Redundant outputs via datagram pairs.
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diff
changeset
|
177 |
list_add_tail(&datagram_pair->list, &domain->datagram_pairs); |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
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diff
changeset
|
178 |
return 0; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
179 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
180 |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
138
diff
changeset
|
181 |
/*****************************************************************************/ |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
138
diff
changeset
|
182 |
|
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
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parents:
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diff
changeset
|
183 |
/** Domain finish helper function. |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
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diff
changeset
|
184 |
* |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
185 |
* Detects, if a slave configuration has already been taken into account for |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
186 |
* a datagram's expected working counter calculation. |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
187 |
* |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
188 |
* Walks through the list of all FMMU configurations for the current datagram |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
189 |
* and ends before the current datagram. |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
190 |
*/ |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
191 |
int shall_count( |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
192 |
const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
193 |
search for. */ |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
194 |
const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */ |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
195 |
) |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
196 |
{ |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
197 |
for (; first_fmmu != cur_fmmu; |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
198 |
first_fmmu = list_entry(first_fmmu->list.next, |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
199 |
ec_fmmu_config_t, list)) { |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
200 |
|
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
201 |
if (first_fmmu->sc == cur_fmmu->sc |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
202 |
&& first_fmmu->dir == cur_fmmu->dir) { |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
203 |
return 0; // was already counted |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
204 |
} |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
205 |
} |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
206 |
|
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
207 |
return 1; |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
208 |
} |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
209 |
|
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
210 |
/*****************************************************************************/ |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
211 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
212 |
/** Finishes a domain. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
213 |
* |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
214 |
* 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
|
215 |
* 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
|
216 |
* |
809 | 217 |
* \todo Check for FMMUs that do not fit into any datagram. |
218 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
219 |
* \retval 0 Success |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
220 |
* \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
|
221 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
222 |
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
|
223 |
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
|
224 |
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
|
225 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
226 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
227 |
uint32_t datagram_offset; |
809 | 228 |
size_t datagram_size; |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
229 |
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
|
230 |
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
|
231 |
ec_fmmu_config_t *fmmu; |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
232 |
const ec_fmmu_config_t *datagram_first_fmmu = NULL; |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
233 |
const ec_datagram_pair_t *datagram_pair; |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
234 |
int ret; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
235 |
|
809 | 236 |
domain->logical_base_address = base_address; |
237 |
||
238 |
if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) { |
|
239 |
if (!(domain->data = |
|
240 |
(uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) { |
|
1921 | 241 |
EC_MASTER_ERR(domain->master, "Failed to allocate %zu bytes" |
242 |
" internal memory for domain %u!\n", |
|
243 |
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
|
244 |
return -ENOMEM; |
809 | 245 |
} |
246 |
} |
|
247 |
||
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
248 |
// Cycle through all domain FMMUs and |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
249 |
// - correct the logical base addresses |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
250 |
// - set up the datagrams to carry the process data |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
251 |
// - calculate the datagrams' expected working counters |
809 | 252 |
datagram_offset = 0; |
253 |
datagram_size = 0; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
254 |
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
|
255 |
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
|
256 |
datagram_used[EC_DIR_INPUT] = 0; |
1907
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
257 |
|
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
258 |
if (!list_empty(&domain->fmmu_configs)) { |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
259 |
datagram_first_fmmu = |
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
260 |
list_entry(domain->fmmu_configs.next, ec_fmmu_config_t, list); |
1907
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
261 |
} |
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
262 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
263 |
list_for_each_entry(fmmu, &domain->fmmu_configs, list) { |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
264 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
265 |
// Correct logical FMMU address |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
266 |
fmmu->logical_start_address += base_address; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
267 |
|
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
268 |
// 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
|
269 |
// and calculate expected working counters |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
270 |
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
Dominik Staubli <ch1010252@ch10pc423>
parents:
1553
diff
changeset
|
271 |
datagram_used[fmmu->dir]++; |
e7733f825982
Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
Dominik Staubli <ch1010252@ch10pc423>
parents:
1553
diff
changeset
|
272 |
} |
1907
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
273 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
274 |
// 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
|
275 |
// allocate a new one. |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
276 |
if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) { |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
277 |
ret = ec_domain_add_datagram_pair(domain, |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
278 |
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
|
279 |
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
|
280 |
datagram_used); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
281 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
282 |
return ret; |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
283 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
284 |
datagram_offset += datagram_size; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
285 |
datagram_size = 0; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
286 |
datagram_count++; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
287 |
datagram_used[EC_DIR_OUTPUT] = 0; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
288 |
datagram_used[EC_DIR_INPUT] = 0; |
2366
5682b63f826a
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2365
diff
changeset
|
289 |
datagram_first_fmmu = fmmu; |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
290 |
} |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
291 |
|
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
292 |
datagram_size += fmmu->data_size; |
809 | 293 |
} |
294 |
||
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
295 |
/* Allocate last datagram pair, if data are left (this is also the case if |
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
296 |
* the process data fit into a single datagram) */ |
809 | 297 |
if (datagram_size) { |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
298 |
ret = ec_domain_add_datagram_pair(domain, |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
299 |
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
|
300 |
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
|
301 |
datagram_used); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
302 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
303 |
return ret; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
304 |
datagram_count++; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
305 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
306 |
|
1921 | 307 |
EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x," |
308 |
" %zu byte, expected working counter %u.\n", domain->index, |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
309 |
domain->logical_base_address, domain->data_size, |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
310 |
domain->expected_working_counter); |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
311 |
|
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
312 |
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
|
313 |
const ec_datagram_t *datagram = |
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
314 |
&datagram_pair->datagrams[EC_DEVICE_MAIN]; |
1921 | 315 |
EC_MASTER_INFO(domain->master, " Datagram %s: Logical offset 0x%08x," |
316 |
" %zu byte, type %s.\n", datagram->name, |
|
317 |
EC_READ_U32(datagram->address), datagram->data_size, |
|
318 |
ec_datagram_type_string(datagram)); |
|
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
319 |
} |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
320 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
321 |
return 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
322 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
323 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
324 |
/*****************************************************************************/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
325 |
|
1092 | 326 |
/** Get the number of FMMU configurations of the domain. |
327 |
*/ |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
328 |
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
|
329 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
330 |
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
|
331 |
unsigned int num = 0; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
332 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
333 |
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
|
334 |
num++; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
335 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
336 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
337 |
return num; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
338 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
339 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
340 |
/*****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
341 |
|
1092 | 342 |
/** Get a certain FMMU configuration via its position in the list. |
343 |
*/ |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
344 |
const ec_fmmu_config_t *ec_domain_find_fmmu( |
1092 | 345 |
const ec_domain_t *domain, /**< EtherCAT domain. */ |
346 |
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
|
347 |
) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
348 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
349 |
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
|
350 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
351 |
list_for_each_entry(fmmu, &domain->fmmu_configs, list) { |
1092 | 352 |
if (pos--) |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
353 |
continue; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
354 |
return fmmu; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
355 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
356 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
357 |
return NULL; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
358 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
359 |
|
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
360 |
/*****************************************************************************/ |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
361 |
|
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
362 |
#if EC_MAX_NUM_DEVICES > 1 |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
363 |
|
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
364 |
/** Process received data. |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
365 |
*/ |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
366 |
int data_changed( |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
367 |
uint8_t *send_buffer, |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
368 |
const ec_datagram_t *datagram, |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
369 |
size_t offset, |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
370 |
size_t size |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
371 |
) |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
372 |
{ |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
373 |
uint8_t *sent = send_buffer + offset; |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
374 |
uint8_t *recv = datagram->data + offset; |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
375 |
size_t i; |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
376 |
|
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
377 |
for (i = 0; i < size; i++) { |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
378 |
if (recv[i] != sent[i]) { |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
379 |
return 1; |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
380 |
} |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
381 |
} |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
382 |
|
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
383 |
return 0; |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
384 |
} |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
385 |
|
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
386 |
#endif |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
387 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
388 |
/****************************************************************************** |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
389 |
* Application interface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
390 |
*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
391 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
392 |
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
|
393 |
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
|
394 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
395 |
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
|
396 |
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
|
397 |
int ret; |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
398 |
|
1921 | 399 |
EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list(" |
400 |
"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
|
401 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
402 |
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
|
403 |
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
|
404 |
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
|
405 |
if (IS_ERR(sc)) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
406 |
return PTR_ERR(sc); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
407 |
|
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
408 |
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
|
409 |
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
|
410 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
411 |
return ret; |
916
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
412 |
|
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
413 |
*reg->offset = ret; |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
414 |
} |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
415 |
|
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
416 |
return 0; |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
417 |
} |
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 |
/*****************************************************************************/ |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
420 |
|
1257
9844ac126275
Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents:
1225
diff
changeset
|
421 |
size_t ecrt_domain_size(const ec_domain_t *domain) |
809 | 422 |
{ |
423 |
return domain->data_size; |
|
424 |
} |
|
425 |
||
426 |
/*****************************************************************************/ |
|
427 |
||
428 |
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem) |
|
429 |
{ |
|
1921 | 430 |
EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory(" |
431 |
"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
|
432 |
|
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
|
433 |
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
|
434 |
|
809 | 435 |
ec_domain_clear_data(domain); |
436 |
||
437 |
domain->data = mem; |
|
438 |
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
|
439 |
|
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 |
up(&domain->master->master_sem); |
809 | 441 |
} |
442 |
||
443 |
/*****************************************************************************/ |
|
444 |
||
445 |
uint8_t *ecrt_domain_data(ec_domain_t *domain) |
|
446 |
{ |
|
447 |
return domain->data; |
|
448 |
} |
|
449 |
||
450 |
/*****************************************************************************/ |
|
451 |
||
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
452 |
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
|
453 |
{ |
2470
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
454 |
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
|
455 |
ec_datagram_pair_t *pair; |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
456 |
#if EC_MAX_NUM_DEVICES > 1 |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
457 |
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
|
458 |
unsigned int datagram_offset; |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
459 |
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
|
460 |
ec_fmmu_config_t, list); |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
461 |
unsigned int redundancy; |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
462 |
#endif |
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
463 |
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
|
464 |
|
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
2366
diff
changeset
|
465 |
#if DEBUG_REDUNDANCY |
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
2366
diff
changeset
|
466 |
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
|
467 |
#endif |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
468 |
|
2470
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
469 |
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
|
470 |
#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
|
471 |
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
|
472 |
#else |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
473 |
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
|
474 |
#endif |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
475 |
|
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
476 |
#if EC_MAX_NUM_DEVICES > 1 |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
477 |
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
|
478 |
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
|
479 |
uint32_t logical_datagram_address = |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
480 |
EC_READ_U32(main_datagram->address); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
481 |
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
|
482 |
|
2367
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
2366
diff
changeset
|
483 |
#if DEBUG_REDUNDANCY |
2463
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
484 |
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
|
485 |
main_datagram->name, logical_datagram_address); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
486 |
#endif |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
487 |
|
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
488 |
/* 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
|
489 |
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
|
490 |
ec_datagram_t *backup_datagram = |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
491 |
&pair->datagrams[EC_DEVICE_BACKUP]; |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
492 |
|
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
493 |
if (fmmu->dir != EC_DIR_INPUT) { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
494 |
continue; |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
495 |
} |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
496 |
|
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
497 |
if (fmmu->logical_start_address >= |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
498 |
logical_datagram_address + datagram_size) { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
499 |
// fmmu data contained in next datagram pair |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
500 |
break; |
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 |
datagram_offset = |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
504 |
fmmu->logical_start_address - logical_datagram_address; |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
505 |
|
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
506 |
#if DEBUG_REDUNDANCY |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
507 |
EC_MASTER_DBG(domain->master, 1, |
2463
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
508 |
"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
|
509 |
fmmu->logical_start_address, fmmu->data_size, |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
510 |
datagram_offset); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
511 |
if (domain->master->debug_level > 0) { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
512 |
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
|
513 |
fmmu->data_size); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
514 |
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
|
515 |
fmmu->data_size); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
516 |
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
|
517 |
fmmu->data_size); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
518 |
} |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
519 |
#endif |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
520 |
|
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
521 |
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
|
522 |
datagram_offset, fmmu->data_size)) { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
523 |
/* 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
|
524 |
#if DEBUG_REDUNDANCY |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
525 |
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
|
526 |
#endif |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
527 |
} 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
|
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 backup link: copy to main memory. */ |
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, "backup 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 |
memcpy(main_datagram->data + datagram_offset, |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
534 |
backup_datagram->data + datagram_offset, |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
535 |
fmmu->data_size); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
536 |
} else if (datagram_pair_wc == |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
537 |
pair->expected_working_counter) { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
538 |
/* 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
|
539 |
#if DEBUG_REDUNDANCY |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
540 |
EC_MASTER_DBG(domain->master, 1, |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
541 |
"no change but complete\n"); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
542 |
#endif |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
543 |
} else { |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
544 |
/* 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
|
545 |
* data.dependent WC flickering. */ |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
546 |
datagram_pair_wc = 0; |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
547 |
#if DEBUG_REDUNDANCY |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
548 |
EC_MASTER_DBG(domain->master, 1, |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
549 |
"no change and incomplete\n"); |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
550 |
#endif |
71d38ff288b3
Improved preprocessor macro usage reg. redundancy.
Florian Pose <fp@igh-essen.com>
parents:
2453
diff
changeset
|
551 |
} |
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
552 |
} |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
553 |
} |
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
554 |
#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
|
555 |
} |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
556 |
|
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
557 |
#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
|
558 |
redundant_wc = 0; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
559 |
for (dev_idx = EC_DEVICE_BACKUP; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
560 |
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
|
561 |
redundant_wc += wc_sum[dev_idx]; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
562 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
563 |
|
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
564 |
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
|
565 |
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
|
566 |
if (redundancy) { |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
567 |
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
|
568 |
"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
|
569 |
domain->index); |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
570 |
} else { |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
571 |
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
|
572 |
"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
|
573 |
domain->index); |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
574 |
} |
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
575 |
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
|
576 |
} |
2470
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
577 |
#else |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
578 |
domain->redundancy_active = 0; |
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
579 |
#endif |
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
580 |
|
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
581 |
wc_change = 0; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
582 |
wc_total = 0; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
583 |
for (dev_idx = EC_DEVICE_MAIN; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
584 |
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
|
585 |
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
|
586 |
wc_change = 1; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
587 |
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
|
588 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
589 |
wc_total += wc_sum[dev_idx]; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
590 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
591 |
|
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
592 |
if (wc_change) { |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
593 |
domain->working_counter_changes++; |
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
594 |
} |
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
595 |
|
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
596 |
if (domain->working_counter_changes && |
344
5d8281f1aa2a
Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents:
343
diff
changeset
|
597 |
jiffies - domain->notify_jiffies > HZ) { |
5d8281f1aa2a
Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents:
343
diff
changeset
|
598 |
domain->notify_jiffies = jiffies; |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
599 |
if (domain->working_counter_changes == 1) { |
1921 | 600 |
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
|
601 |
" changed to %u/%u", domain->index, |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
602 |
wc_total, domain->expected_working_counter); |
1921 | 603 |
} else { |
604 |
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
|
605 |
" 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
|
606 |
domain->working_counter_changes, |
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
607 |
wc_total, domain->expected_working_counter); |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
608 |
} |
2470
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
609 |
#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
|
610 |
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
|
611 |
printk(" ("); |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
612 |
for (dev_idx = EC_DEVICE_MAIN; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
613 |
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
|
614 |
dev_idx++) { |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
615 |
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
|
616 |
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
|
617 |
printk("+"); |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
618 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
619 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
620 |
printk(")"); |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
621 |
} |
2470
4f97d61a8671
Fixed ecrt_domain_process() broken in 71d38ff288b3.
Florian Pose <fp@igh-essen.com>
parents:
2468
diff
changeset
|
622 |
#endif |
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
623 |
printk(".\n"); |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
624 |
|
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
625 |
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
|
626 |
} |
494
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
627 |
} |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
628 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
629 |
/*****************************************************************************/ |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
630 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
631 |
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
|
632 |
{ |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
633 |
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
|
634 |
ec_device_index_t dev_idx; |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
635 |
|
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
636 |
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
|
637 |
|
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
638 |
#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
|
639 |
/* copy main data to send buffer */ |
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
2366
diff
changeset
|
640 |
memcpy(datagram_pair->send_buffer, |
8527429b6137
Compare with send buffer; copy changed data.
Florian Pose <fp@igh-essen.com>
parents:
2366
diff
changeset
|
641 |
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
|
642 |
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
|
643 |
#endif |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
644 |
ec_master_queue_datagram(domain->master, |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
645 |
&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
|
646 |
|
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
647 |
/* 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
|
648 |
for (dev_idx = EC_DEVICE_BACKUP; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
649 |
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
|
650 |
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
|
651 |
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
|
652 |
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
|
653 |
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
|
654 |
&datagram_pair->datagrams[dev_idx]); |
2269
1d0711235a61
Redundant outputs via datagram pairs.
Florian Pose <fp@igh-essen.com>
parents:
2268
diff
changeset
|
655 |
} |
494
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
656 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
657 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
658 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
659 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
660 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
661 |
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
|
662 |
{ |
2453
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
663 |
unsigned int dev_idx; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
664 |
uint16_t wc = 0; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
665 |
|
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
666 |
for (dev_idx = EC_DEVICE_MAIN; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
667 |
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
|
668 |
wc += domain->working_counter[dev_idx]; |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
669 |
} |
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
670 |
|
d461b1f07296
Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents:
2374
diff
changeset
|
671 |
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
|
672 |
|
2468 | 673 |
if (wc) { |
674 |
if (wc == domain->expected_working_counter) { |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
675 |
state->wc_state = EC_WC_COMPLETE; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
676 |
} else { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
677 |
state->wc_state = EC_WC_INCOMPLETE; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
678 |
} |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
679 |
} else { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
680 |
state->wc_state = EC_WC_ZERO; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
681 |
} |
2368
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
682 |
|
dd84ef164869
Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents:
2367
diff
changeset
|
683 |
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
|
684 |
} |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
685 |
|
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
686 |
/*****************************************************************************/ |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
687 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
688 |
/** \cond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
689 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
690 |
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list); |
809 | 691 |
EXPORT_SYMBOL(ecrt_domain_size); |
692 |
EXPORT_SYMBOL(ecrt_domain_external_memory); |
|
693 |
EXPORT_SYMBOL(ecrt_domain_data); |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
694 |
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
|
695 |
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
|
696 |
EXPORT_SYMBOL(ecrt_domain_state); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
697 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
698 |
/** \endcond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
699 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
700 |
/*****************************************************************************/ |