1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT domain methods.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#include <linux/module.h>

    38

    39

#include "globals.h"

    40

#include "master.h"

    41

#include "slave_config.h"

    42

    43

#include "domain.h"

    44

    45

/*****************************************************************************/

    46

    47

void ec_domain_clear_data(ec_domain_t *);

    48

    49

/*****************************************************************************/

    50

    51

/** Domain constructor.

    52

 */

    53

void ec_domain_init(

    54

        ec_domain_t *domain, /**< EtherCAT domain. */

    55

        ec_master_t *master, /**< Parent master. */

    56

        unsigned int index /**< Index. */

    57

        )

    58

{

    59

    domain->master = master;

    60

    domain->index = index;

    61

    INIT_LIST_HEAD(&domain->fmmu_configs);

    62

    domain->data_size = 0;

    63

    domain->data = NULL;

    64

    domain->data_origin = EC_ORIG_INTERNAL;

    65

    domain->logical_base_address = 0x00000000;

    66

    INIT_LIST_HEAD(&domain->datagrams);

    67

    domain->working_counter = 0x0000;

    68

    domain->expected_working_counter = 0x0000;

    69

    domain->working_counter_changes = 0;

    70

    domain->notify_jiffies = 0;

    71

}

    72

    73

/*****************************************************************************/

    74

    75

/** Domain destructor.

    76

 */

    77

void ec_domain_clear(ec_domain_t *domain /**< EtherCAT domain */)

    78

{

    79

    ec_datagram_t *datagram, *next;

    80

    81

    // dequeue and free datagrams

    82

    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {

    83

        ec_datagram_clear(datagram);

    84

        kfree(datagram);

    85

    }

    86

    87

    ec_domain_clear_data(domain);

    88

}

    89

    90

/*****************************************************************************/

    91

    92

/** Frees internally allocated memory.

    93

 */

    94

void ec_domain_clear_data(

    95

        ec_domain_t *domain /**< EtherCAT domain. */

    96

        )

    97

{

    98

    if (domain->data_origin == EC_ORIG_INTERNAL && domain->data)

    99

        kfree(domain->data);

   100

    domain->data = NULL;

   101

    domain->data_origin = EC_ORIG_INTERNAL;

   102

}

   103

   104

/*****************************************************************************/

   105

   106

/** Adds an FMMU configuration to the domain.

   107

 */

   108

void ec_domain_add_fmmu_config(

   109

        ec_domain_t *domain, /**< EtherCAT domain. */

   110

        ec_fmmu_config_t *fmmu /**< FMMU configuration. */

   111

        )

   112

{

   113

    fmmu->domain = domain;

   114

   115

    domain->data_size += fmmu->data_size;

   116

    list_add_tail(&fmmu->list, &domain->fmmu_configs);

   117

   118

    if (domain->master->debug_level)

   119

        EC_DBG("Domain %u: Added %u bytes, total %zu.\n", domain->index,

   120

                fmmu->data_size, domain->data_size);

   121

}

   122

   123

/*****************************************************************************/

   124

   125

/** Allocates a domain datagram and appends it to the list.

   126

 *

   127

 * The datagram type and expected working counters are determined by the

   128

 * number of input and output fmmus that share the datagram.

   129

 *

   130

 * \retval  0 Success.

   131

 * \retval <0 Error code.

   132

 */

   133

int ec_domain_add_datagram(

   134

        ec_domain_t *domain, /**< EtherCAT domain. */

   135

        uint32_t logical_offset, /**< Logical offset. */

   136

        size_t data_size, /**< Size of the data. */

   137

        uint8_t *data, /**< Process data. */

   138

        const unsigned int used[] /**< Used by inputs/outputs. */

   139

        )

   140

{

   141

    ec_datagram_t *datagram;

   142

    int ret;

   143

   144

    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {

   145

        EC_ERR("Failed to allocate domain datagram!\n");

   146

        return -ENOMEM;

   147

    }

   148

   149

    ec_datagram_init(datagram);

   150

    snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE,

   151

            "domain%u-%u", domain->index, logical_offset);

   152

   153

    if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs

   154

        ret = ec_datagram_lrw(datagram, logical_offset, data_size, data);

   155

        if (ret < 0) {

   156

            kfree(datagram);

   157

            return ret;

   158

        }

   159

        // If LRW is used, output FMMUs increment the working counter by 2,

   160

        // while input FMMUs increment it by 1.

   161

        domain->expected_working_counter +=

   162

            used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT];

   163

    } else if (used[EC_DIR_OUTPUT]) { // outputs only

   164

        ret = ec_datagram_lwr(datagram, logical_offset, data_size, data);

   165

        if (ret < 0) {

   166

            kfree(datagram);

   167

            return ret;

   168

        }

   169

        domain->expected_working_counter += used[EC_DIR_OUTPUT];

   170

    } else { // inputs only (or nothing)

   171

        ret = ec_datagram_lrd(datagram, logical_offset, data_size, data);

   172

        if (ret < 0) {

   173

            kfree(datagram);

   174

            return ret;

   175

        }

   176

        domain->expected_working_counter += used[EC_DIR_INPUT];

   177

    }

   178

   179

    ec_datagram_zero(datagram);

   180

    list_add_tail(&datagram->list, &domain->datagrams);

   181

    return 0;

   182

}

   183

   184

/*****************************************************************************/

   185

   186

/** Finishes a domain.

   187

 *

   188

 * This allocates the necessary datagrams and writes the correct logical

   189

 * addresses to every configured FMMU.

   190

 *

   191

 * \todo Check for FMMUs that do not fit into any datagram.

   192

 *

   193

 * \retval  0 Success

   194

 * \retval <0 Error code.

   195

 */

   196

int ec_domain_finish(

   197

        ec_domain_t *domain, /**< EtherCAT domain. */

   198

        uint32_t base_address /**< Logical base address. */

   199

        )

   200

{

   201

    uint32_t datagram_offset;

   202

    size_t datagram_size;

   203

    unsigned int datagram_count;

   204

    unsigned int datagram_used[EC_DIR_COUNT];

   205

    ec_fmmu_config_t *fmmu;

   207

    const ec_datagram_t *datagram;

   208

    int ret;

   209

   210

    domain->logical_base_address = base_address;

   211

   212

    if (domain->data_size && domain->data_origin == EC_ORIG_INTERNAL) {

   213

        if (!(domain->data =

   214

                    (uint8_t *) kmalloc(domain->data_size, GFP_KERNEL))) {

   215

            EC_ERR("Failed to allocate %zu bytes internal memory for"

   216

                    " domain %u!\n", domain->data_size, domain->index);

   217

            return -ENOMEM;

   218

        }

   219

    }

   220

   221

    // Cycle through all domain FMMUS and

   222

    // - correct the logical base addresses

   223

    // - set up the datagrams to carry the process data

   224

    datagram_offset = 0;

   225

    datagram_size = 0;

   226

    datagram_count = 0;

   227

    datagram_used[EC_DIR_OUTPUT] = 0;

   228

    datagram_used[EC_DIR_INPUT] = 0;

   233

    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

   234

        // Correct logical FMMU address

   235

        fmmu->logical_start_address += base_address;

   236

   237

        // Increment Input/Output counter to determine datagram types

   238

        // and calculate expected working counters

   244

        // If the current FMMU's data do not fit in the current datagram,

   245

        // allocate a new one.

   246

        if (datagram_size + fmmu->data_size > EC_MAX_DATA_SIZE) {

   247

            ret = ec_domain_add_datagram(domain,

   248

                    domain->logical_base_address + datagram_offset,

   249

                    datagram_size, domain->data + datagram_offset,

   250

                    datagram_used);

   251

            if (ret < 0)

   252

                return ret;

   253

            datagram_offset += datagram_size;

   254

            datagram_size = 0;

   255

            datagram_count++;

   256

            datagram_used[EC_DIR_OUTPUT] = 0;

   257

            datagram_used[EC_DIR_INPUT] = 0;

   262

        }

   263

   264

        datagram_size += fmmu->data_size;

   265

    }

   266

   267

    // Allocate last datagram, if data are left (this is also the case if the

   268

    // process data fit into a single datagram)

   269

    if (datagram_size) {

   270

        ret = ec_domain_add_datagram(domain,

   271

                domain->logical_base_address + datagram_offset,

   272

                datagram_size, domain->data + datagram_offset,

   273

                datagram_used);

   274

        if (ret < 0)

   275

            return ret;

   276

        datagram_count++;

   277

    }

   278

   279

    EC_INFO("Domain%u: Logical address 0x%08x, %zu byte, "

   280

            "expected working counter %u.\n", domain->index,

   281

            domain->logical_base_address, domain->data_size,

   282

            domain->expected_working_counter);

   283

    list_for_each_entry(datagram, &domain->datagrams, list) {

   284

        EC_INFO("  Datagram %s: Logical offset 0x%08x, %zu byte, type %s.\n",

   285

                datagram->name, EC_READ_U32(datagram->address),

   286

                datagram->data_size, ec_datagram_type_string(datagram));

   287

    }

   288

   289

    return 0;

   290

}

   291

   292

/*****************************************************************************/

   293

   294

/** Get the number of FMMU configurations of the domain.

   295

 */

   296

unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)

   297

{

   298

    const ec_fmmu_config_t *fmmu;

   299

    unsigned int num = 0;

   300

   301

    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

   302

        num++;

   303

    }

   304

   305

    return num;

   306

}

   307

   308

/*****************************************************************************/

   309

   310

/** Get a certain FMMU configuration via its position in the list.

   311

 */

   312

const ec_fmmu_config_t *ec_domain_find_fmmu(

   313

        const ec_domain_t *domain, /**< EtherCAT domain. */

   314

        unsigned int pos /**< List position. */

   315

        )

   316

{

   317

    const ec_fmmu_config_t *fmmu;

   318

   319

    list_for_each_entry(fmmu, &domain->fmmu_configs, list) {

   320

        if (pos--)

   321

            continue;

   322

        return fmmu;

   323

    }

   324

   325

    return NULL;

   326

}

   327

   328

/******************************************************************************

   329

 *  Realtime interface

   330

 *****************************************************************************/

   331

   332

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,

   333

        const ec_pdo_entry_reg_t *regs)

   334

{

   335

    const ec_pdo_entry_reg_t *reg;

   336

    ec_slave_config_t *sc;

   337

    int ret;

   338

   339

    if (domain->master->debug_level)

   340

        EC_DBG("ecrt_domain_reg_pdo_entry_list(domain = 0x%p, regs = 0x%p)\n",

   341

                domain, regs);

   342

   343

    for (reg = regs; reg->index; reg++) {

   344

        sc = ecrt_master_slave_config_err(domain->master, reg->alias,

   345

                reg->position, reg->vendor_id, reg->product_code);

   346

        if (IS_ERR(sc))

   347

            return PTR_ERR(sc);

   348

   349

        ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,

   350

                        reg->subindex, domain, reg->bit_position);

   351

        if (ret < 0)

   352

            return ret;

   353

   354

        *reg->offset = ret;

   355

    }

   356

   357

    return 0;

   358

}

   359

   360

/*****************************************************************************/

   361

   362

size_t ecrt_domain_size(const ec_domain_t *domain)

   363

{

   364

    return domain->data_size;

   365

}

   366

   367

/*****************************************************************************/

   368

   369

void ecrt_domain_external_memory(ec_domain_t *domain, uint8_t *mem)

   370

{

   371

    if (domain->master->debug_level)

   372

        EC_DBG("ecrt_domain_external_memory(domain = 0x%p, mem = 0x%p)\n",

   373

                domain, mem);

   374

   375

    down(&domain->master->master_sem);

   376

   377

    ec_domain_clear_data(domain);

   378

   379

    domain->data = mem;

   380

    domain->data_origin = EC_ORIG_EXTERNAL;

   381

   382

    up(&domain->master->master_sem);

   383

}

   384

   385

/*****************************************************************************/

   386

   387

uint8_t *ecrt_domain_data(ec_domain_t *domain)

   388

{

   389

    return domain->data;

   390

}

   391

   392

/*****************************************************************************/

   393

   394

void ecrt_domain_process(ec_domain_t *domain)

   395

{

   396

    uint16_t working_counter_sum;

   397

    ec_datagram_t *datagram;

   398

   399

    working_counter_sum = 0x0000;

   400

    list_for_each_entry(datagram, &domain->datagrams, list) {

   401

        ec_datagram_output_stats(datagram);

   402

        if (datagram->state == EC_DATAGRAM_RECEIVED) {

   403

            working_counter_sum += datagram->working_counter;

   404

        }

   405

    }

   406

   407

    if (working_counter_sum != domain->working_counter) {

   408

        domain->working_counter_changes++;

   409

        domain->working_counter = working_counter_sum;

   410

    }

   411

   412

    if (domain->working_counter_changes &&

   413

        jiffies - domain->notify_jiffies > HZ) {

   414

        domain->notify_jiffies = jiffies;

   415

        if (domain->working_counter_changes == 1) {

   416

            EC_INFO("Domain %u: Working counter changed to %u/%u.\n",

   417

                    domain->index, domain->working_counter,

   418

                    domain->expected_working_counter);

   419

        } else {

   420

            EC_INFO("Domain %u: %u working counter changes - now %u/%u.\n",

   421

                    domain->index, domain->working_counter_changes,

   422

                    domain->working_counter, domain->expected_working_counter);

   423

        }

   424

        domain->working_counter_changes = 0;

   425

    }

   426

}

   427

   428

/*****************************************************************************/

   429

   430

void ecrt_domain_queue(ec_domain_t *domain)

   431

{

   432

    ec_datagram_t *datagram;

   433

   434

    list_for_each_entry(datagram, &domain->datagrams, list) {

   435

        ec_master_queue_datagram(domain->master, datagram);

   436

    }

   437

}

   438

   439

/*****************************************************************************/

   440

   441

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)

   442

{

   443

    state->working_counter = domain->working_counter;

   444

   445

    if (domain->working_counter) {

   446

        if (domain->working_counter == domain->expected_working_counter) {

   447

            state->wc_state = EC_WC_COMPLETE;

   448

        } else {

   449

            state->wc_state = EC_WC_INCOMPLETE;

   450

        }

   451

    } else {

   452

        state->wc_state = EC_WC_ZERO;

   453

    }

   454

}

   455

   456

/*****************************************************************************/

   457

   458

/** \cond */

   459

   460

EXPORT_SYMBOL(ecrt_domain_reg_pdo_entry_list);

   461

EXPORT_SYMBOL(ecrt_domain_size);

   462

EXPORT_SYMBOL(ecrt_domain_external_memory);

   463

EXPORT_SYMBOL(ecrt_domain_data);

   464

EXPORT_SYMBOL(ecrt_domain_process);

   465

EXPORT_SYMBOL(ecrt_domain_queue);

   466

EXPORT_SYMBOL(ecrt_domain_state);

   467

   468

/** \endcond */

   469

   470

/*****************************************************************************/