author | Florian Pose <fp@igh-essen.com> |
Wed, 04 Jan 2012 13:57:48 +0100 | |
changeset 2185 | bc08b092238d |
parent 2101 | 01b30593e942 |
child 2589 | 2b9c78543663 |
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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/*****************************************************************************/ |
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void ec_domain_clear_data(ec_domain_t *); |
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/*****************************************************************************/ |
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/** Domain constructor. |
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*/ |
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void ec_domain_init( |
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ec_domain_t *domain, /**< EtherCAT domain. */ |
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ec_master_t *master, /**< Parent master. */ |
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unsigned int index /**< Index. */ |
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) |
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{ |
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domain->master = master; |
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domain->index = index; |
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INIT_LIST_HEAD(&domain->fmmu_configs); |
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domain->data_size = 0; |
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domain->tx_size = 0; |
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domain->data = NULL; |
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domain->data_origin = EC_ORIG_INTERNAL; |
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domain->logical_base_address = 0x00000000; |
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INIT_LIST_HEAD(&domain->datagrams); |
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domain->working_counter = 0x0000; |
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domain->expected_working_counter = 0x0000; |
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domain->working_counter_changes = 0; |
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domain->notify_jiffies = 0; |
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} |
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/*****************************************************************************/ |
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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_t *datagram, *next; |
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// dequeue and free datagrams |
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list_for_each_entry_safe(datagram, next, &domain->datagrams, list) { |
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ec_datagram_clear(datagram); |
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kfree(datagram); |
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} |
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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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ec_fmmu_config_t *fmmu /**< FMMU configuration. */ |
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) |
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{ |
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fmmu->domain = domain; |
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domain->data_size += fmmu->data_size; |
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domain->tx_size += fmmu->tx_size; |
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list_add_tail(&fmmu->list, &domain->fmmu_configs); |
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EC_MASTER_DBG(domain->master, 1, "Domain %u:" |
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" Added %u bytes, total %zu.\n", |
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domain->index, fmmu->data_size, domain->data_size); |
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} |
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|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
126 |
/*****************************************************************************/ |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
127 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
128 |
/** Allocates a domain datagram and appends it to the list. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
129 |
* |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
130 |
* The datagram type and expected working counters are determined by the |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
131 |
* number of input and output fmmus that share the datagram. |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
132 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
133 |
* \retval 0 Success. |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
134 |
* \retval <0 Error code. |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
135 |
*/ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
136 |
int ec_domain_add_datagram( |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
137 |
ec_domain_t *domain, /**< EtherCAT domain. */ |
809 | 138 |
uint32_t logical_offset, /**< Logical offset. */ |
139 |
size_t data_size, /**< Size of the data. */ |
|
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
140 |
uint8_t *data, /**< Process data. */ |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
141 |
const unsigned int used[] /**< Slave config counter for in/out. */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
142 |
) |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
143 |
{ |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
144 |
ec_datagram_t *datagram; |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
145 |
int ret; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
146 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
147 |
if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) { |
1921 | 148 |
EC_MASTER_ERR(domain->master, |
149 |
"Failed to allocate domain datagram!\n"); |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
150 |
return -ENOMEM; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
151 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
152 |
|
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
153 |
ec_datagram_init(datagram); |
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
154 |
snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, |
809 | 155 |
"domain%u-%u", domain->index, logical_offset); |
156 |
||
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
157 |
if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
158 |
ret = ec_datagram_lrw(datagram, logical_offset, data_size, data); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
159 |
if (ret < 0) { |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
160 |
kfree(datagram); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
161 |
return ret; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
162 |
} |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
163 |
// If LRW is used, output FMMUs increment the working counter by 2, |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
164 |
// while input FMMUs increment it by 1. |
1304
853c83c72f44
merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents:
1257
diff
changeset
|
165 |
domain->expected_working_counter += |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
166 |
used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT]; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
167 |
} else if (used[EC_DIR_OUTPUT]) { // outputs only |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
168 |
ret = ec_datagram_lwr(datagram, logical_offset, data_size, data); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
169 |
if (ret < 0) { |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
170 |
kfree(datagram); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
171 |
return ret; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
172 |
} |
1304
853c83c72f44
merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents:
1257
diff
changeset
|
173 |
domain->expected_working_counter += used[EC_DIR_OUTPUT]; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
174 |
} else { // inputs only (or nothing) |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
175 |
ret = ec_datagram_lrd(datagram, logical_offset, data_size, data); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
176 |
if (ret < 0) { |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
177 |
kfree(datagram); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
178 |
return ret; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
179 |
} |
1304
853c83c72f44
merge -c1554 branches/stable-1.4: Fixed WC calculation for multiple datagrams.
Florian Pose <fp@igh-essen.com>
parents:
1257
diff
changeset
|
180 |
domain->expected_working_counter += used[EC_DIR_INPUT]; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
181 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
182 |
|
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1181
diff
changeset
|
183 |
ec_datagram_zero(datagram); |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
184 |
list_add_tail(&datagram->list, &domain->datagrams); |
1981
c14b6bb14fdf
Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1907
diff
changeset
|
185 |
datagram->domain = domain; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
186 |
return 0; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
187 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
188 |
|
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
189 |
/*****************************************************************************/ |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
138
diff
changeset
|
190 |
|
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
191 |
/** Domain finish helper function. |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
192 |
* |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
193 |
* Detects, if a slave configuration has already been taken into account for |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
194 |
* a datagram's expected working counter calculation. |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
195 |
* |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
196 |
* Walks through the list of all FMMU configurations for the current datagram |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
197 |
* and ends before the current datagram. |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
198 |
*/ |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
199 |
int shall_count( |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
200 |
const ec_fmmu_config_t *cur_fmmu, /**< Current FMMU with direction to |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
201 |
search for. */ |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
202 |
const ec_fmmu_config_t *first_fmmu /**< Datagram's first FMMU. */ |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
203 |
) |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
204 |
{ |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
205 |
for (; first_fmmu != cur_fmmu; |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
206 |
first_fmmu = list_entry(first_fmmu->list.next, |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
207 |
ec_fmmu_config_t, list)) { |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
208 |
|
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
209 |
if (first_fmmu->sc == cur_fmmu->sc |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
210 |
&& first_fmmu->dir == cur_fmmu->dir) { |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
211 |
return 0; // was already counted |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
212 |
} |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
213 |
} |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
214 |
|
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
215 |
return 1; |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
216 |
} |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
217 |
|
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
218 |
/*****************************************************************************/ |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
219 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
220 |
/** Finishes a domain. |
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 |
* 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
|
223 |
* 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
|
224 |
* |
809 | 225 |
* \todo Check for FMMUs that do not fit into any datagram. |
226 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
227 |
* \retval 0 Success |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
228 |
* \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
|
229 |
*/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
230 |
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
|
231 |
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
|
232 |
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
|
233 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
234 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
235 |
uint32_t datagram_offset; |
809 | 236 |
size_t datagram_size; |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
237 |
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
|
238 |
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
|
239 |
ec_fmmu_config_t *fmmu; |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
240 |
const ec_fmmu_config_t *datagram_first_fmmu = NULL; |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
241 |
const ec_datagram_t *datagram; |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
242 |
int ret; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
243 |
|
809 | 244 |
domain->logical_base_address = base_address; |
245 |
||
246 |
if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) { |
|
247 |
if (!(domain->data = |
|
248 |
(uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) { |
|
1921 | 249 |
EC_MASTER_ERR(domain->master, "Failed to allocate %zu bytes" |
250 |
" internal memory for domain %u!\n", |
|
251 |
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
|
252 |
return -ENOMEM; |
809 | 253 |
} |
254 |
} |
|
255 |
||
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
256 |
// Cycle through all domain FMMUs and |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
257 |
// - correct the logical base addresses |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
258 |
// - set up the datagrams to carry the process data |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
259 |
// - calculate the datagrams' expected working counters |
809 | 260 |
datagram_offset = 0; |
261 |
datagram_size = 0; |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
262 |
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
|
263 |
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
|
264 |
datagram_used[EC_DIR_INPUT] = 0; |
1907
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
265 |
|
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
266 |
if (!list_empty(&domain->fmmu_configs)) { |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
267 |
datagram_first_fmmu = |
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
268 |
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
|
269 |
} |
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
270 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
271 |
list_for_each_entry(fmmu, &domain->fmmu_configs, list) { |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
272 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
273 |
// Correct logical FMMU address |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
274 |
fmmu->logical_start_address += base_address; |
1981
c14b6bb14fdf
Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1907
diff
changeset
|
275 |
fmmu->domain_address += base_address; |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
276 |
|
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
277 |
// Increment input/output counter to determine datagram types |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
278 |
// and calculate expected working counters |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
279 |
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
|
280 |
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
|
281 |
} |
1907
dd276ae226b4
Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents:
1798
diff
changeset
|
282 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
283 |
// 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
|
284 |
// allocate a new one. |
1981
c14b6bb14fdf
Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1907
diff
changeset
|
285 |
if (datagram_size + fmmu->tx_size > EC_MAX_DATA_SIZE) { |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
286 |
ret = ec_domain_add_datagram(domain, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
287 |
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
|
288 |
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
|
289 |
datagram_used); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
290 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
291 |
return ret; |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
292 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
293 |
datagram_offset += datagram_size; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
294 |
datagram_size = 0; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
295 |
datagram_count++; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
296 |
datagram_used[EC_DIR_OUTPUT] = 0; |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
297 |
datagram_used[EC_DIR_INPUT] = 0; |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
298 |
datagram_first_fmmu = fmmu; |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
299 |
} |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
300 |
|
1981
c14b6bb14fdf
Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1907
diff
changeset
|
301 |
datagram_size += fmmu->tx_size; |
809 | 302 |
} |
303 |
||
993
8c32564252fd
Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents:
985
diff
changeset
|
304 |
// Allocate last datagram, if data are left (this is also the case if the |
8c32564252fd
Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents:
985
diff
changeset
|
305 |
// process data fit into a single datagram) |
809 | 306 |
if (datagram_size) { |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
307 |
ret = ec_domain_add_datagram(domain, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
308 |
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
|
309 |
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
|
310 |
datagram_used); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
311 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
312 |
return ret; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
313 |
datagram_count++; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
314 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
315 |
|
1921 | 316 |
EC_MASTER_INFO(domain->master, "Domain%u: Logical address 0x%08x," |
317 |
" %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
|
318 |
domain->logical_base_address, domain->data_size, |
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
319 |
domain->expected_working_counter); |
817
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
320 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
1921 | 321 |
EC_MASTER_INFO(domain->master, " Datagram %s: Logical offset 0x%08x," |
322 |
" %zu byte, type %s.\n", datagram->name, |
|
323 |
EC_READ_U32(datagram->address), datagram->data_size, |
|
324 |
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
|
325 |
} |
118dea2fa505
Support for slaves that don't support the LRW datagram type.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
326 |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
327 |
return 0; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
328 |
} |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
329 |
|
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
330 |
/*****************************************************************************/ |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
331 |
|
1092 | 332 |
/** Get the number of FMMU configurations of the domain. |
333 |
*/ |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
334 |
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
|
335 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
336 |
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
|
337 |
unsigned int num = 0; |
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 |
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
|
340 |
num++; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
341 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
342 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
343 |
return num; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
344 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
345 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
346 |
/*****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
347 |
|
1092 | 348 |
/** Get a certain FMMU configuration via its position in the list. |
349 |
*/ |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
350 |
const ec_fmmu_config_t *ec_domain_find_fmmu( |
1092 | 351 |
const ec_domain_t *domain, /**< EtherCAT domain. */ |
352 |
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
|
353 |
) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
354 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
355 |
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
|
356 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
357 |
list_for_each_entry(fmmu, &domain->fmmu_configs, list) { |
1092 | 358 |
if (pos--) |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
359 |
continue; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
360 |
return fmmu; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
361 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
362 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
363 |
return NULL; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
364 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
944
diff
changeset
|
365 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
366 |
/****************************************************************************** |
2101
01b30593e942
Avoided casting-away constness in expected working counter calculation.
Florian Pose <fp@igh-essen.com>
parents:
2028
diff
changeset
|
367 |
* Application interface |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
368 |
*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
369 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
370 |
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
|
371 |
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
|
372 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
373 |
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
|
374 |
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
|
375 |
int ret; |
640
16e9ad7d8e12
Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
376 |
|
1921 | 377 |
EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list(" |
378 |
"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
|
379 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
380 |
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
|
381 |
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
|
382 |
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
|
383 |
if (IS_ERR(sc)) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
384 |
return PTR_ERR(sc); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
385 |
|
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
386 |
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
|
387 |
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
|
388 |
if (ret < 0) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1304
diff
changeset
|
389 |
return ret; |
916
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
390 |
|
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
391 |
*reg->offset = ret; |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
392 |
} |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
393 |
|
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
394 |
return 0; |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
395 |
} |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
396 |
|
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
397 |
/*****************************************************************************/ |
db73994fbdac
Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
398 |
|
1257
9844ac126275
Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents:
1225
diff
changeset
|
399 |
size_t ecrt_domain_size(const ec_domain_t *domain) |
809 | 400 |
{ |
401 |
return domain->data_size; |
|
402 |
} |
|
403 |
||
404 |
/*****************************************************************************/ |
|
405 |
||
406 |
void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem) |
|
407 |
{ |
|
1921 | 408 |
EC_MASTER_DBG(domain->master, 1, "ecrt_domain_external_memory(" |
409 |
"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
|
410 |
|
2028
55854f070c4a
use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents:
1989
diff
changeset
|
411 |
ec_mutex_lock(&domain->master->master_mutex); |
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
|
412 |
|
809 | 413 |
ec_domain_clear_data(domain); |
414 |
||
415 |
domain->data = mem; |
|
416 |
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
|
417 |
|
2028
55854f070c4a
use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents:
1989
diff
changeset
|
418 |
ec_mutex_unlock(&domain->master->master_mutex); |
809 | 419 |
} |
420 |
||
421 |
/*****************************************************************************/ |
|
422 |
||
423 |
uint8_t *ecrt_domain_data(ec_domain_t *domain) |
|
424 |
{ |
|
425 |
return domain->data; |
|
426 |
} |
|
427 |
||
428 |
/*****************************************************************************/ |
|
429 |
||
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
430 |
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
|
431 |
{ |
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
432 |
uint16_t working_counter_sum; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
433 |
ec_datagram_t *datagram; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
434 |
|
985
90bcaf9ce3d5
Fixed calculation of expected working counter.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
435 |
working_counter_sum = 0x0000; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
436 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
719
03d5b96632fb
Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
437 |
ec_datagram_output_stats(datagram); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
315
diff
changeset
|
438 |
if (datagram->state == EC_DATAGRAM_RECEIVED) { |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
275
diff
changeset
|
439 |
working_counter_sum += datagram->working_counter; |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
440 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
97
diff
changeset
|
441 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
442 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
443 |
if (working_counter_sum != domain->working_counter) { |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
444 |
domain->working_counter_changes++; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
445 |
domain->working_counter = working_counter_sum; |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
446 |
} |
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
447 |
|
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
448 |
if (domain->working_counter_changes && |
344
5d8281f1aa2a
Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents:
343
diff
changeset
|
449 |
jiffies - domain->notify_jiffies > HZ) { |
5d8281f1aa2a
Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents:
343
diff
changeset
|
450 |
domain->notify_jiffies = jiffies; |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
451 |
if (domain->working_counter_changes == 1) { |
1921 | 452 |
EC_MASTER_INFO(domain->master, "Domain %u: Working counter" |
453 |
" changed to %u/%u.\n", domain->index, |
|
454 |
domain->working_counter, domain->expected_working_counter); |
|
455 |
} else { |
|
456 |
EC_MASTER_INFO(domain->master, "Domain %u: %u working counter" |
|
457 |
" changes - now %u/%u.\n", domain->index, |
|
458 |
domain->working_counter_changes, domain->working_counter, |
|
912
6630f4dbcfd2
Improved working counter output; fixed problem with slaves that have a single sync manager used for outputs.
Florian Pose <fp@igh-essen.com>
parents:
885
diff
changeset
|
459 |
domain->expected_working_counter); |
332
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
460 |
} |
e16093374dfd
New statistic outputs to avoid blasting the logs.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
461 |
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
|
462 |
} |
494
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
463 |
} |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
464 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
465 |
/*****************************************************************************/ |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
466 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
467 |
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
|
468 |
{ |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
469 |
ec_datagram_t *datagram; |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
470 |
|
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
471 |
list_for_each_entry(datagram, &domain->datagrams, list) { |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
472 |
ec_master_queue_datagram(domain->master, datagram); |
178b1b43a88c
Version 1.2.0-rc1, re-introduced ecrt_domain_queue().
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
473 |
} |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
474 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
475 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
476 |
/*****************************************************************************/ |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
58
diff
changeset
|
477 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
478 |
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
|
479 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
480 |
state->working_counter = domain->working_counter; |
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
481 |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
482 |
if (domain->working_counter) { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
483 |
if (domain->working_counter == domain->expected_working_counter) { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
484 |
state->wc_state = EC_WC_COMPLETE; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
485 |
} else { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
486 |
state->wc_state = EC_WC_INCOMPLETE; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
487 |
} |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
488 |
} else { |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
489 |
state->wc_state = EC_WC_ZERO; |
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
817
diff
changeset
|
490 |
} |
105
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
491 |
} |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
492 |
|
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
493 |
/*****************************************************************************/ |
fad6709a526f
Dom?nen-Status (ecrt_domain_state) hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
494 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
495 |
/** \cond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
496 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
783
diff
changeset
|
497 |
EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list); |
809 | 498 |
EXPORT_SYMBOL(ecrt_domain_size); |
499 |
EXPORT_SYMBOL(ecrt_domain_external_memory); |
|
500 |
EXPORT_SYMBOL(ecrt_domain_data); |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
501 |
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
|
502 |
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
|
503 |
EXPORT_SYMBOL(ecrt_domain_state); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
|
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
505 |
/** \endcond */ |
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
506 |
|
04ecf40fc2e9
Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents:
197
diff
changeset
|
507 |
/*****************************************************************************/ |