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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 *****************************************************************************/ |
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29 |
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30 /** |
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31 \file |
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32 EtherCAT datagram pair methods. |
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33 */ |
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34 |
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35 /*****************************************************************************/ |
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36 |
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37 #include <linux/slab.h> |
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38 |
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39 #include "master.h" |
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40 #include "datagram_pair.h" |
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41 |
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42 /*****************************************************************************/ |
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43 |
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44 /** Datagram pair constructor. |
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45 */ |
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46 int ec_datagram_pair_init( |
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47 ec_datagram_pair_t *pair, /**< Datagram pair. */ |
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48 ec_domain_t *domain, /**< Parent domain. */ |
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49 uint32_t logical_offset, |
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50 uint8_t *data, |
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51 size_t data_size, /**< Data size. */ |
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52 const unsigned int used[] /**< input/output use count. */ |
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53 ) |
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54 { |
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55 ec_device_index_t dev_idx; |
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56 int ret; |
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57 |
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58 INIT_LIST_HEAD(&pair->list); |
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59 pair->domain = domain; |
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60 |
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61 for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
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62 ec_datagram_init(&pair->datagrams[dev_idx]); |
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63 snprintf(pair->datagrams[dev_idx].name, |
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64 EC_DATAGRAM_NAME_SIZE, "domain%u-%u-%s", domain->index, |
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65 logical_offset, ec_device_names[dev_idx]); |
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66 pair->datagrams[dev_idx].device_index = dev_idx; |
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67 } |
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68 |
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69 pair->expected_working_counter = 0U; |
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70 |
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71 /* backup datagram has its own memory */ |
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72 ret = ec_datagram_prealloc(&pair->datagrams[EC_DEVICE_BACKUP], |
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73 data_size); |
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74 if (ret) { |
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75 goto out_datagrams; |
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76 } |
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77 |
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78 if (!(pair->send_buffer = kmalloc(data_size, GFP_KERNEL))) { |
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79 EC_MASTER_ERR(domain->master, |
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80 "Failed to allocate domain send buffer!\n"); |
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81 ret = -ENOMEM; |
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82 goto out_datagrams; |
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83 } |
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84 |
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85 /* The ec_datagram_lxx() calls below can not fail, because either the |
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86 * datagram has external memory or it is preallocated. */ |
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87 |
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88 if (used[EC_DIR_OUTPUT] && used[EC_DIR_INPUT]) { // inputs and outputs |
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89 ec_datagram_lrw_ext(&pair->datagrams[EC_DEVICE_MAIN], |
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90 logical_offset, data_size, data); |
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91 ec_datagram_lrw(&pair->datagrams[EC_DEVICE_BACKUP], |
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92 logical_offset, data_size); |
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93 |
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94 // If LRW is used, output FMMUs increment the working counter by 2, |
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95 // while input FMMUs increment it by 1. |
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96 pair->expected_working_counter = |
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97 used[EC_DIR_OUTPUT] * 2 + used[EC_DIR_INPUT]; |
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98 } else if (used[EC_DIR_OUTPUT]) { // outputs only |
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99 ec_datagram_lwr_ext(&pair->datagrams[EC_DEVICE_MAIN], |
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100 logical_offset, data_size, data); |
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101 ec_datagram_lwr(&pair->datagrams[EC_DEVICE_BACKUP], |
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102 logical_offset, data_size); |
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103 |
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104 pair->expected_working_counter = used[EC_DIR_OUTPUT]; |
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105 } else { // inputs only (or nothing) |
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106 ec_datagram_lrd_ext(&pair->datagrams[EC_DEVICE_MAIN], |
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107 logical_offset, data_size, data); |
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108 ec_datagram_lrd(&pair->datagrams[EC_DEVICE_BACKUP], |
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109 logical_offset, data_size); |
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110 |
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111 pair->expected_working_counter = used[EC_DIR_INPUT]; |
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112 } |
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113 |
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114 for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
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115 ec_datagram_zero(&pair->datagrams[dev_idx]); |
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116 } |
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117 |
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118 return 0; |
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119 |
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120 out_datagrams: |
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121 for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
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122 ec_datagram_clear(&pair->datagrams[dev_idx]); |
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123 } |
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124 |
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125 return ret; |
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126 } |
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127 |
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128 /*****************************************************************************/ |
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129 |
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130 /** Datagram pair destructor. |
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131 */ |
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132 void ec_datagram_pair_clear( |
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133 ec_datagram_pair_t *pair /**< Datagram pair. */ |
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134 ) |
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135 { |
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136 unsigned int dev_idx; |
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137 |
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138 for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
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139 ec_datagram_clear(&pair->datagrams[dev_idx]); |
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140 } |
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141 |
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142 if (pair->send_buffer) { |
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143 kfree(pair->send_buffer); |
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144 } |
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145 } |
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146 |
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147 /*****************************************************************************/ |
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148 |
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149 /** Process received data. |
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150 */ |
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151 uint16_t ec_datagram_pair_process( |
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152 ec_datagram_pair_t *pair, /**< Datagram pair. */ |
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153 uint16_t wc_sum[EC_NUM_DEVICES] /**< Working counter sums. */ |
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154 ) |
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155 { |
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156 unsigned int dev_idx; |
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157 uint16_t pair_wc = 0; |
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158 |
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159 for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
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160 ec_datagram_t *datagram = &pair->datagrams[dev_idx]; |
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161 |
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162 ec_datagram_output_stats(datagram); |
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163 |
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164 if (datagram->state == EC_DATAGRAM_RECEIVED) { |
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165 pair_wc += datagram->working_counter; |
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166 wc_sum[dev_idx] += datagram->working_counter; |
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167 } |
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168 } |
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169 |
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170 return pair_wc; |
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171 } |
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172 |
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173 /*****************************************************************************/ |